AIGroundVehicle from Vivian Meazza

src/AIModel/AIBase.hxx

@@ -44,7 +44,7 @@ class FGAIBase : public osg::Referenced {
 
 public:
     enum object_type { otNull = 0, otAircraft, otShip, otCarrier, otBallistic,
-                       otRocket, otStorm, otThermal, otStatic, otWingman,
+                       otRocket, otStorm, otThermal, otStatic, otWingman, otGroundVehicle,
                        otMultiplayer,
                        MAX_OBJECTS };	// Needs to be last!!!
 

src/AIModel/AICarrier.cxx

@@ -274,8 +274,8 @@ void FGAICarrier::bind() {
                 SGRawValuePointer<double>(&rel_wind_speed_kts));
     props->tie("environment/in-to-wind",
         SGRawValuePointer<bool>(&in_to_wind));
-    props->tie("controls/flols/wave-off-lights",
+    //props->tie("controls/flols/wave-off-lights",
-                SGRawValuePointer<bool>(&wave_off_lights));
+    //            SGRawValuePointer<bool>(&wave_off_lights));
     props->tie("controls/elevators",
                 SGRawValuePointer<bool>(&elevators));
     props->tie("surface-positions/elevators-pos-norm",
@@ -323,7 +323,7 @@ void FGAICarrier::unbind() {
     props->untie("environment/rel-wind-from-degs");
     props->untie("environment/rel-wind-speed-kts");
     props->untie("environment/in-to-wind");
-    props->untie("controls/flols/wave-off-lights");
+    //props->untie("controls/flols/wave-off-lights");
     props->untie("controls/elevators");
     props->untie("surface-positions/elevators-pos-norm");
     props->untie("controls/constants/elevators/trans-time-secs");
@@ -394,11 +394,14 @@ void FGAICarrier::UpdateWind( double dt) {
     rel_wind = rel_wind_from_deg - hdg;
     SG_NORMALIZE_RANGE(rel_wind, -180.0, 180.0);
 
+    //set in to wind property
+    InToWind();
+
     //switch the wave-off lights
-    if (InToWind())
+    //if (InToWind())
-       wave_off_lights = false;
+    //   wave_off_lights = false;
-    else
+    //else
-       wave_off_lights = true;
+    //   wave_off_lights = true;
 
     // cout << "rel wind: " << rel_wind << endl;
 

src/AIModel/AIFlightPlan.cxx

@@ -366,6 +366,26 @@ void FGAIFlightPlan::IncrementWaypoint(bool eraseWaypoints )
 
 }
 
+void FGAIFlightPlan::DecrementWaypoint(bool eraseWaypoints )
+{
+    if (eraseWaypoints)
+    {
+        if (wpt_iterator == waypoints.end())
+            wpt_iterator--;
+        else
+        {
+            delete *(waypoints.end());
+            waypoints.erase(waypoints.end());
+            wpt_iterator = waypoints.end();
+            wpt_iterator--;
+        }
+    }
+    else
+        wpt_iterator--;
+
+}
+
+
 // gives distance in feet from a position to a waypoint
 double FGAIFlightPlan::getDistanceToGo(double lat, double lon, waypoint* wp) const{
   return SGGeodesy::distanceM(SGGeod::fromDeg(lon, lat), 

src/AIModel/AIFlightPlan.hxx

@@ -81,6 +81,7 @@ public:
    waypoint* const getCurrentWaypoint( void ) const;
    waypoint* const getNextWaypoint( void ) const;
    void IncrementWaypoint( bool erase );
+   void DecrementWaypoint( bool erase );
 
    double getDistanceToGo(double lat, double lon, waypoint* wp) const;
    int getLeg () const { return leg;};

src/AIModel/AIGroundVehicle.cxx

@@ -0,0 +1,562 @@
+// FGAIGroundVehicle - FGAIShip-derived class creates an AI Ground Vehicle
+// by adding a ground following utility
+//
+// Written by Vivian Meazza, started August 2009.
+// - vivian.meazza at lineone.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 <simgear/sg_inlines.h>
+
+#include <Main/viewer.hxx>
+#include <Scenery/scenery.hxx>
+#include <Scenery/tilemgr.hxx>
+#include <Airports/dynamics.hxx>
+
+#include "AIGroundVehicle.hxx"
+
+FGAIGroundVehicle::FGAIGroundVehicle() :
+FGAIShip(otGroundVehicle),
+
+_pitch(0),
+_pitch_deg(0),
+_speed_kt(0),
+_range_ft(0),
+_relbrg (0),
+_parent_speed(0),
+_parent_x_offset(0),
+_selected_ac(0)
+{
+    invisible = false;
+}
+
+FGAIGroundVehicle::~FGAIGroundVehicle() {}
+
+void FGAIGroundVehicle::readFromScenario(SGPropertyNode* scFileNode) {
+    if (!scFileNode)
+        return;
+
+    FGAIShip::readFromScenario(scFileNode);
+
+    setNoRoll(scFileNode->getBoolValue("no-roll", true));
+    setName(scFileNode->getStringValue("name", "groundvehicle"));
+    setSMPath(scFileNode->getStringValue("submodel-path", ""));
+    setContactX1offset(scFileNode->getDoubleValue("contact_x1_offset", 0.0));
+    setContactX2offset(scFileNode->getDoubleValue("contact_x2_offset", 0.0));
+    setXOffset(scFileNode->getDoubleValue("hitch-x-offset", 38.55));
+    setPitchoffset(scFileNode->getDoubleValue("pitch-offset", 0.0));
+    setRolloffset(scFileNode->getDoubleValue("roll-offset", 0.0));
+    setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0));
+    setPitchCoeff(scFileNode->getDoubleValue("pitch-coefficient", 0.5));
+    setElevCoeff(scFileNode->getDoubleValue("elevation-coefficient", 0.5));
+    setParentName(scFileNode->getStringValue("parent", ""));
+    setTowAngleGain(scFileNode->getDoubleValue("tow-angle-gain", 2.0));
+    setTowAngleLimit(scFileNode->getDoubleValue("tow-angle-limit-deg", 2.0));
+    //we may need these later for towed vehicles
+    //    setSubID(scFileNode->getIntValue("SubID", 0));
+    //    setGroundOffset(scFileNode->getDoubleValue("ground-offset", 0.0));
+    //    setFormate(scFileNode->getBoolValue("formate", true));
+}
+
+void FGAIGroundVehicle::bind() {
+    FGAIShip::bind();
+
+    props->tie("controls/constants/elevation-coeff",
+        SGRawValuePointer<double>(&_elevation_coeff));
+    props->tie("controls/constants/pitch-coeff",
+        SGRawValuePointer<double>(&_pitch_coeff));
+    props->tie("position/ht-AGL-ft",
+        SGRawValuePointer<double>(&_ht_agl_ft));
+    props->tie("hitch/rel-bearing-deg",
+         SGRawValuePointer<double>(&_relbrg));
+    props->tie("hitch/tow-angle-deg",
+         SGRawValuePointer<double>(&_tow_angle));
+    props->tie("hitch/range-ft",
+        SGRawValuePointer<double>(&_range_ft));
+    props->tie("hitch/x-offset-ft",
+        SGRawValuePointer<double>(&_x_offset));
+    props->tie("hitch/parent-x-offset-ft",
+        SGRawValuePointer<double>(&_parent_x_offset));
+    props->tie("controls/constants/tow-angle/gain",
+        SGRawValuePointer<double>(&_tow_angle_gain));
+    props->tie("controls/constants/tow-angle/limit-deg",
+        SGRawValuePointer<double>(&_tow_angle_limit));
+
+
+    //we may need these later for towed vehicles
+
+    //    (*this, &FGAIBallistic::getElevHitchToUser));
+    //props->tie("position/x-offset",
+    //    SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getXOffset, &FGAIBase::setXoffset));
+    //props->tie("position/y-offset",
+    //    SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getYOffset, &FGAIBase::setYoffset));
+    //props->tie("position/z-offset",
+    //    SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getZOffset, &FGAIBase::setZoffset));
+    //props->tie("position/tgt-x-offset",
+    //    SGRawValueMethods<FGAIWingman,double>(*this, &FGAIWingman::getTgtXOffset, &FGAIWingman::setTgtXOffset));
+    //props->tie("position/tgt-y-offset",
+    //    SGRawValueMethods<FGAIWingman,double>(*this, &FGAIWingman::getTgtYOffset, &FGAIWingman::setTgtYOffset));
+    //props->tie("position/tgt-z-offset",
+    //    SGRawValueMethods<FGAIWingman,double>(*this, &FGAIWingman::getTgtZOffset, &FGAIWingman::setTgtZOffset));
+}
+
+void FGAIGroundVehicle::unbind() {
+    FGAIShip::unbind();
+
+    props->untie("controls/constants/elevation-coeff");
+    props->untie("position/ht-AGL-ft");
+    props->untie("controls/constants/pitch-coeff");
+    props->untie("hitch/rel-bearing-deg");
+    props->untie("hitch/tow-angle-deg");
+    props->untie("hitch/range-ft");
+    props->untie("hitch/x-offset-ft");
+    props->untie("hitch/parent-x-offset-ft");
+    props->untie("controls/constants/tow-angle/gain");
+    props->untie("controls/constants/tow-angle/limit-deg");
+
+    //we may need these later for towed vehicles
+    //props->untie("load/rel-brg-to-user-deg");
+    //props->untie("load/elev-to-user-deg");
+    //props->untie("velocities/vertical-speed-fps");
+    //props->untie("position/x-offset");
+    //props->untie("position/y-offset");
+    //props->untie("position/z-offset");
+    //props->untie("position/tgt-x-offset");
+    //props->untie("position/tgt-y-offset");
+    //props->untie("position/tgt-z-offset");
+}
+
+bool FGAIGroundVehicle::init(bool search_in_AI_path) {
+    if (!FGAIShip::init(search_in_AI_path))
+        return false;
+
+    invisible = false;
+
+    _limit = 200;
+    no_roll = true;
+
+    return true;
+}
+
+void FGAIGroundVehicle::update(double dt) {
+    //    SG_LOG(SG_GENERAL, SG_ALERT, "updating GroundVehicle: " << _name );
+
+    if (getPitch()){
+        setElevation(_elevation, dt, _elevation_coeff);
+        ClimbTo(_elevation_ft);
+        setPitch(_pitch, dt, _pitch_coeff);
+        PitchTo(_pitch_deg);
+    }
+
+    if(_parent !=""){
+        setParent();
+
+        string parent_next_name = _selected_ac->getStringValue("waypoint/name-next");
+        bool parent_waiting = _selected_ac->getBoolValue("waypoint/waiting");
+        _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
+
+        if (parent_next_name == "END" && fp->getNextWaypoint()->name != "END" ){
+            SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
+                << " setting END: getting new waypoints ");
+            AdvanceFP();
+            setWPNames();
+        /*} else if (parent_next_name == "WAIT" && fp->getNextWaypoint()->name != "WAIT" ){*/
+        } else if (parent_waiting && !_waiting){
+            SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
+                << " setting WAIT/WAITUNTIL: getting new waypoints ");
+            AdvanceFP();
+            setWPNames();
+            _waiting = true;
+        } else if (parent_next_name != "WAIT" && fp->getNextWaypoint()->name == "WAIT"){
+            SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
+                << " wait done: getting new waypoints ");
+            _waiting = false;
+            _wait_count = 0;
+            fp->IncrementWaypoint(false);
+            next = fp->getNextWaypoint();
+
+            if (next->name == "WAITUNTIL" || next->name == "WAIT"
+                || next->name == "END"){
+            } else {
+                prev = curr;
+                fp->IncrementWaypoint(false);
+                curr = fp->getCurrentWaypoint();
+                next = fp->getNextWaypoint();
+            }
+
+            setWPNames();
+        } else if (_range_ft > 1000){
+
+             SG_LOG(SG_GENERAL, SG_INFO, "AIGroundVeh1cle: " << _name
+                << " rescue: reforming train " << _range_ft << " " << _x_offset * 15);
+
+            setTowAngle(0, dt, 1);
+            setSpeed(_parent_speed * 2);
+
+        } else if (_parent_speed > 1){
+
+            setTowSpeed();
+            setTowAngle(_relbrg, dt, 1);
+
+        } else if (_parent_speed < -1){
+
+            setTowSpeed();
+
+            if (_relbrg < 0)
+                setTowAngle(-(180 - (360 + _relbrg)), dt, 1);
+            else
+                setTowAngle(-(180 - _relbrg), dt, 1);
+
+        } else
+            setSpeed(_parent_speed);
+    }
+
+    FGAIShip::update(dt);
+}
+
+void FGAIGroundVehicle::setNoRoll(bool nr) {
+    no_roll = nr;
+}
+
+void FGAIGroundVehicle::setContactX1offset(double x1) {
+    _contact_x1_offset = x1;
+}
+
+void FGAIGroundVehicle::setContactX2offset(double x2) {
+    _contact_x2_offset = x2;
+}
+
+void FGAIGroundVehicle::setXOffset(double x) {
+    _x_offset = x;
+}
+
+void FGAIGroundVehicle::setPitchCoeff(double pc) {
+    _pitch_coeff = pc;
+}
+
+void FGAIGroundVehicle::setElevCoeff(double ec) {
+    _elevation_coeff = ec;
+}
+
+void FGAIGroundVehicle::setTowAngleGain(double g) {
+    _tow_angle_gain = g;
+}
+
+void FGAIGroundVehicle::setTowAngleLimit(double l) {
+    _tow_angle_limit = l;
+}
+
+void FGAIGroundVehicle::setElevation(double h, double dt, double coeff){
+    double c = dt / (coeff + dt);
+    _elevation_ft = (h * c) + (_elevation_ft * (1 - c));
+}
+
+void FGAIGroundVehicle::setPitch(double p, double dt, double coeff){
+    double c = dt / (coeff + dt);
+    _pitch_deg = (p * c) + (_pitch_deg * (1 - c));
+}
+
+void FGAIGroundVehicle::setParentName(const string& p) {
+    _parent = p;
+}
+
+void FGAIGroundVehicle::setTowAngle(double ta, double dt, double coeff){
+    ta *= _tow_angle_gain;
+    //_tow_angle = pow(ta,2) * sign(ta);
+    //if (_tow_angle > _tow_angle_limit) _tow_angle = _tow_angle_limit;
+    //if (_tow_angle < -_tow_angle_limit) _tow_angle = -_tow_angle_limit;
+    SG_CLAMP_RANGE(_tow_angle, -_tow_angle_limit, _tow_angle_limit);
+}
+
+bool FGAIGroundVehicle::getGroundElev(SGGeod inpos) {
+
+    if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(inpos, 10000),
+        _elevation_m, &_material)){
+            _ht_agl_ft = pos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
+
+            if (_material) {
+                const vector<string>& names = _material->get_names();
+
+                _solid = _material->get_solid();
+                _load_resistance = _material->get_load_resistance();
+                _frictionFactor =_material->get_friction_factor();
+                _elevation = _elevation_m * SG_METER_TO_FEET;
+
+                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() {
+
+    double vel = props->getDoubleValue("velocities/true-airspeed-kt", 0);
+    double contact_offset_x1_m = _contact_x1_offset * SG_FEET_TO_METER;
+    double contact_offset_x2_m = _contact_x2_offset * SG_FEET_TO_METER;
+
+    SGVec3d front(-contact_offset_x1_m, 0, 0);
+    SGVec3d rear(-contact_offset_x2_m, 0, 0);
+    SGVec3d Front = getCartPosAt(front);
+    SGVec3d Rear = getCartPosAt(rear);
+
+    SGGeod geodFront = SGGeod::fromCart(Front);
+    SGGeod geodRear = SGGeod::fromCart(Rear);
+
+    double front_elev_m = 0;
+    double rear_elev_m = 0;
+    double elev_front = 0;
+    double elev_rear = 0;
+
+    if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodFront, 10000),
+        elev_front, &_material)){
+
+            front_elev_m = elev_front;
+
+            //if (_material) {
+            //
+            //}
+
+    } else
+        return false;
+
+    if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodRear, 10000),
+        elev_rear, &_material)){
+            rear_elev_m = elev_rear;
+            //if (_material) {
+            //    rear_elev_m = elev_rear;
+            //}
+
+    } else
+        return false;
+
+    if (vel >= 0){
+        double diff = front_elev_m - rear_elev_m;
+        _pitch = atan2 (diff,
+            fabs(contact_offset_x1_m) + fabs(contact_offset_x2_m)) * SG_RADIANS_TO_DEGREES;
+        _elevation = (rear_elev_m + diff/2) * SG_METER_TO_FEET;
+    } else {
+        double diff = rear_elev_m - front_elev_m;
+        _pitch = atan2 (diff,
+            fabs(contact_offset_x1_m) + fabs(contact_offset_x2_m)) * SG_RADIANS_TO_DEGREES;
+        _elevation = (front_elev_m + diff/2) * SG_METER_TO_FEET;
+        _pitch = -_pitch;
+    }
+
+    return true;
+}
+
+void FGAIGroundVehicle::setParent() {
+
+    const SGPropertyNode *ai = fgGetNode("/ai/models", true);
+
+    for (int i = ai->nChildren() - 1; i >= -1; i--) {
+        const SGPropertyNode *model;
+
+        if (i < 0) { // last iteration: selected model
+            model = _selected_ac;
+        } else {
+            model = ai->getChild(i);
+            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");
+        double lat = _selected_ac->getDoubleValue("position/latitude-deg");
+        double lon = _selected_ac->getDoubleValue("position/longitude-deg");
+        double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
+        double hitch_offset_m = _x_offset * SG_FEET_TO_METER;
+        _selectedpos.setLatitudeDeg(lat);
+        _selectedpos.setLongitudeDeg(lon);
+        _selectedpos.setElevationFt(elevation);
+
+        SGVec3d rear_hitch(-hitch_offset_m, 0, 0);
+        SGVec3d RearHitch = getCartHitchPosAt(rear_hitch);
+
+        SGGeod rearpos = SGGeod::fromCart(RearHitch);
+
+        double user_lat = rearpos.getLatitudeDeg();
+        double user_lon = rearpos.getLongitudeDeg();
+
+        double range, bearing;
+
+        calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
+            user_lat, user_lon, range, bearing);
+        _range_ft = range * 6076.11549;
+        _relbrg = calcRelBearingDeg(bearing, hdg);
+    } else {
+        SG_LOG(SG_GENERAL, SG_ALERT, "AIGroundVeh1cle: " << _name
+                << " parent not found: dying ");
+        setDie(true);
+    }
+
+}
+
+void FGAIGroundVehicle::calcRangeBearing(double lat, double lon, double lat2, double lon2,
+                            double &range, double &bearing) const
+{
+    // calculate the bearing and range of the second pos from the first
+    double az2, distance;
+    geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
+    range = distance *= SG_METER_TO_NM;
+}
+
+double FGAIGroundVehicle::calcRelBearingDeg(double bearing, double heading)
+{
+    double angle = bearing - heading;
+
+    SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
+
+    return angle;
+}
+
+SGVec3d FGAIGroundVehicle::getCartHitchPosAt(const SGVec3d& _off) const {
+    double hdg = _selected_ac->getDoubleValue("orientation/true-heading-deg");
+    double pitch = _selected_ac->getDoubleValue("orientation/pitch-deg");
+    double roll = _selected_ac->getDoubleValue("orientation/roll-deg");
+
+    // Transform that one to the horizontal local coordinate system.
+    SGQuatd hlTrans = SGQuatd::fromLonLat(_selectedpos);
+
+    // and postrotate the orientation of the AIModel wrt the horizontal
+    // local frame
+    hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
+
+    // The offset converted to the usual body fixed coordinate system
+    // rotated to the earth fiexed coordinates axis
+    SGVec3d off = hlTrans.backTransform(_off);
+
+    // Add the position offset of the AIModel to gain the earth centered position
+    SGVec3d cartPos = SGVec3d::fromGeod(_selectedpos);
+
+    return cartPos + off;
+}
+
+void FGAIGroundVehicle::AdvanceFP(){
+
+    double count = 0;
+    string parent_next_name =_selected_ac->getStringValue("waypoint/name-next");
+
+    while(fp->getNextWaypoint() != 0 && fp->getNextWaypoint()->name != "END" && count < 5){
+        SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
+            <<" advancing waypoint to: " << parent_next_name);
+
+        if (fp->getNextWaypoint()->name == parent_next_name){
+            SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
+                << " not setting waypoint already at: " << fp->getNextWaypoint()->name);
+            return;
+        }
+
+        prev = curr;
+        fp->IncrementWaypoint(false);
+        curr = fp->getCurrentWaypoint();
+        next = fp->getNextWaypoint();
+
+        if (fp->getNextWaypoint()->name == parent_next_name){
+            SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
+            << " waypoint set to: " << fp->getNextWaypoint()->name);
+            return;
+        }
+
+        count++;
+
+    }// end while loop
+
+    while(fp->getPreviousWaypoint() != 0 && fp->getPreviousWaypoint()->name != "END"
+        && count > -10){
+            SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
+            << " retreating waypoint to: " << parent_next_name
+            << " at: " << fp->getNextWaypoint()->name);
+
+        if (fp->getNextWaypoint()->name == parent_next_name){
+            SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
+                << " not setting waypoint already at:" << fp->getNextWaypoint()->name );
+            return;
+        }
+
+        prev = curr;
+        fp->DecrementWaypoint(false);
+        curr = fp->getCurrentWaypoint();
+        next = fp->getNextWaypoint();
+
+        if (fp->getNextWaypoint()->name == parent_next_name){
+            SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
+            << " waypoint set to: " << fp->getNextWaypoint()->name);
+            return;
+        }
+
+        count--;
+
+    }// end while loop
+}
+
+void FGAIGroundVehicle::setTowSpeed(){
+
+    _parent_x_offset = _selected_ac->getDoubleValue("hitch/x-offset-ft");
+
+    // double diff = _range_ft - _parent_x_offset;
+    double  x = 0;
+
+    if (_range_ft > _x_offset * 3) x = 50;
+
+    if (_relbrg < -90 || _relbrg > 90){
+        setSpeed(_parent_speed - 5 - x);
+        //cout << _name << " case 1r _relbrg spd - 5 " << _relbrg << " " << diff << endl;
+    }else if (_range_ft > _parent_x_offset + 0.25 && _relbrg >= -90 && _relbrg <= 90){
+        setSpeed(_parent_speed + 1 + x);
+        //cout << _name << " case 2r _relbrg spd + 1 " << _relbrg << " "
+        //    << diff << " range " << _range_ft << endl;
+    } else if (_range_ft < _parent_x_offset - 0.25 && _relbrg >= -90 && _relbrg <= 90){
+        setSpeed(_parent_speed - 1 - x);
+        //cout << _name << " case 3r _relbrg spd - 2 " << _relbrg << " "
+        //    << diff << " " << _range_ft << endl;
+    } else {
+        setSpeed(_parent_speed);
+        //cout << _name << " else r _relbrg " << _relbrg << " " << diff << endl;
+    }
+
+}
+// end AIGroundvehicle

src/AIModel/AIGroundVehicle.hxx

@@ -0,0 +1,101 @@
+// FGAIGroundVehicle - FGAIShip-derived class creates an AI Ground Vehicle
+// by adding a ground following utility
+//
+// Written by Vivian Meazza, started August 2009.
+// - vivian.meazza at lineone.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_AIGROUNDVEHICLE_HXX
+#define _FG_AIGROUNDVEHICLE_HXX
+
+#include <math.h>
+#include <vector>
+#include <simgear/structure/SGSharedPtr.hxx>
+#include <simgear/scene/material/mat.hxx>
+
+#include "AIShip.hxx"
+
+#include "AIManager.hxx"
+#include "AIBase.hxx"
+
+class FGAIGroundVehicle : public FGAIShip {
+public:
+    FGAIGroundVehicle();
+    virtual ~FGAIGroundVehicle();
+
+    virtual void readFromScenario(SGPropertyNode* scFileNode);
+    virtual void bind();
+    virtual void unbind();
+    virtual const char* getTypeString(void) const { return "groundvehicle"; }
+
+    bool init(bool search_in_AI_path=false);
+
+private:
+
+    virtual void reinit() { init(); }
+    virtual void update (double dt);
+
+    void setNoRoll(bool nr);
+    void setContactX1offset(double x1);
+    void setContactX2offset(double x2);
+    void setXOffset(double x);
+
+    void setPitchCoeff(double pc);
+    void setElevCoeff(double ec);
+    void setTowAngleGain(double g);
+    void setTowAngleLimit(double l);
+    void setElevation(double _elevation, double dt, double _elevation_coeff);
+    void setPitch(double _pitch, double dt, double _pitch_coeff);
+    void setTowAngle(double _relbrg, double dt, double _towangle_coeff);
+    void setParentName(const string& p);
+    void setTrainSpeed(double s, double dt, double coeff);
+    void setParent();
+    void AdvanceFP();
+    void setTowSpeed();
+
+    bool getGroundElev(SGGeod inpos);
+    bool getPitch();
+
+    SGVec3d getCartHitchPosAt(const SGVec3d& off) const;
+
+    void calcRangeBearing(double lat, double lon, double lat2, double lon2,
+        double &range, double &bearing) const;
+    double calcRelBearingDeg(double bearing, double heading);
+
+    SGGeod _selectedpos;
+
+    bool   _solid;           // if true ground is solid for FDMs
+    double _load_resistance; // ground load resistanc N/m^2
+    double _frictionFactor;  // dimensionless modifier for Coefficient of Friction
+    double _elevation, _elevation_coeff;
+    double _tow_angle_gain, _tow_angle_limit;
+    double _ht_agl_ft;
+    double _contact_x1_offset, _contact_x2_offset, _contact_z_offset;
+    double _pitch, _pitch_coeff, _pitch_deg;
+    double _speed_coeff, _speed_kt;
+    double _x_offset;
+    double _range_ft;
+    double _relbrg;
+    double _parent_speed, _parent_x_offset;
+
+    const SGMaterial* _material;
+    const SGPropertyNode *_selected_ac;
+
+    string _parent;
+
+};
+
+#endif  // FG_AIGROUNDVEHICLE_HXX

src/AIModel/AIManager.cxx

@@ -38,6 +38,7 @@
 #include "AIMultiplayer.hxx"
 #include "AITanker.hxx"
 #include "AIWingman.hxx"
+#include "AIGroundVehicle.hxx"
 
 FGAIManager::FGAIManager() {
     _dt = 0.0;
@@ -97,7 +98,7 @@ FGAIManager::postinit() {
             continue;
         }
 
-        SG_LOG(SG_GENERAL, SG_INFO, "loading scenario '" << name << '\'');
+        SG_LOG(SG_GENERAL, SG_ALERT, "loading scenario '" << name << '\'');
         processScenario(name);
         scenarios[name] = true;
     }
@@ -305,6 +306,11 @@ FGAIManager::processScenario( const string &filename ) {
             carrier->readFromScenario(scEntry);
             attach(carrier);
 
+        } else if (type == "groundvehicle") {
+            FGAIGroundVehicle* groundvehicle = new FGAIGroundVehicle;
+            groundvehicle->readFromScenario(scEntry);
+            attach(groundvehicle);
+
         } else if (type == "thunderstorm") {
             FGAIStorm* storm = new FGAIStorm;
             storm->readFromScenario(scEntry);
@@ -324,9 +330,10 @@ FGAIManager::processScenario( const string &filename ) {
             FGAIStatic* aistatic = new FGAIStatic;
             aistatic->readFromScenario(scEntry);
             attach(aistatic);
-
         }
+
     }
+
 }
 
 SGPropertyNode_ptr

src/AIModel/AIShip.cxx

@@ -35,13 +35,23 @@
 #include <simgear/timing/sg_time.hxx>
 #include <simgear/math/sg_random.h>
 
+#include <simgear/scene/util/SGNodeMasks.hxx>
+#include <Scenery/scenery.hxx>
+
 #include "AIShip.hxx"
 
 
 FGAIShip::FGAIShip(object_type ot) :
     FGAIBase(ot),
+    _limit(40),
+    _elevation_m(0),
+    _elevation_ft(0),
+    _tow_angle(0),
     _dt_count(0),
-    _next_run(0)
+    _next_run(0),
+    _lead_angle(0),
+    _xtrack_error(0)
+
 {
 }
 
@@ -61,8 +71,16 @@ void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
     std::string flightplan = scFileNode->getStringValue("flightplan");
     setRepeat(scFileNode->getBoolValue("repeat", false));
     setStartTime(scFileNode->getStringValue("time", ""));
+    setLeadAngleGain(scFileNode->getDoubleValue("lead-angle-gain", 1.5));
+    setLeadAngleLimit(scFileNode->getDoubleValue("lead-angle-limit-deg", 15));
+    setLeadAngleProp(scFileNode->getDoubleValue("lead-angle-proportion", 0.75));
+    setRudderConstant(scFileNode->getDoubleValue("rudder-constant", 0.5));
+    setFixedTurnRadius(scFileNode->getDoubleValue("fixed-turn-radius-ft", 500));
+    setSpeedConstant(scFileNode->getDoubleValue("speed-constant", 0.5));
 
     if (!flightplan.empty()) {
+            SG_LOG(SG_GENERAL, SG_ALERT, "getting flightplan: " << _name );
+
         FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
         setFlightPlan(fp);
     }
@@ -77,20 +95,18 @@ bool FGAIShip::init(bool search_in_AI_path) {
     _until_time = "";
 
     props->setStringValue("name", _name.c_str());
-    props->setStringValue("position/waypoint-name-prev", _prev_name.c_str());
+    props->setStringValue("waypoint/name-prev", _prev_name.c_str());
-    props->setStringValue("position/waypoint-name-curr", _curr_name.c_str());
+    props->setStringValue("waypoint/name-curr", _curr_name.c_str());
-    props->setStringValue("position/waypoint-name-next", _next_name.c_str());
+    props->setStringValue("waypoint/name-next", _next_name.c_str());
     props->setStringValue("submodels/path", _path.c_str());
-    props->setStringValue("position/waypoint-start-time", _start_time.c_str());
+    props->setStringValue("waypoint/start-time", _start_time.c_str());
-    props->setStringValue("position/waypoint-wait-until-time", _until_time.c_str());
+    props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
 
     _hdg_lock = false;
     _rudder = 0.0;
     no_roll = false;
 
-    _rudder_constant = 0.5;
     _roll_constant = 0.001;
-    _speed_constant = 0.05;
     _hdg_constant = 0.01;
     _roll_factor = -0.0083335;
 
@@ -138,28 +154,44 @@ void FGAIShip::bind() {
         SGRawValuePointer<double>(&_rudder_constant));
     props->tie("controls/constants/speed",
         SGRawValuePointer<double>(&_speed_constant));
-    props->tie("position/waypoint-range-nm",
+    props->tie("waypoint/range-nm",
         SGRawValuePointer<double>(&_wp_range));
-    props->tie("position/waypoint-range-old-nm",
+    props->tie("waypoint/brg-deg",
-        SGRawValuePointer<double>(&_old_range));
+        SGRawValuePointer<double>(&_course));
-    props->tie("position/waypoint-range-rate-nm-sec",
+    props->tie("waypoint/rangerate-nm-sec",
         SGRawValuePointer<double>(&_range_rate));
-    props->tie("position/waypoint-new",
+    props->tie("waypoint/new",
         SGRawValuePointer<bool>(&_new_waypoint));
-    props->tie("position/waypoint-missed",
+    props->tie("waypoint/missed",
         SGRawValuePointer<bool>(&_missed));
-    props->tie("position/waypoint-missed-count",
+    props->tie("waypoint/missed-count-sec",
         SGRawValuePointer<double>(&_missed_count));
-    props->tie("position/waypoint-missed-time-sec",
+    props->tie("waypoint/missed-range-nm",
+        SGRawValuePointer<double>(&_missed_range));
+    props->tie("waypoint/missed-time-sec",
         SGRawValuePointer<double>(&_missed_time_sec));
-    props->tie("position/waypoint-wait-count",
+    props->tie("waypoint/wait-count-sec",
         SGRawValuePointer<double>(&_wait_count));
-    props->tie("position/waypoint-waiting",
+    props->tie("waypoint/xtrack-error-ft",
+        SGRawValuePointer<double>(&_xtrack_error));
+    props->tie("waypoint/waiting",
         SGRawValuePointer<bool>(&_waiting));
+    props->tie("waypoint/lead-angle-deg",
+        SGRawValuePointer<double>(&_lead_angle));
     props->tie("submodels/serviceable",
         SGRawValuePointer<bool>(&_serviceable));
     props->tie("controls/turn-radius-ft",
         SGRawValuePointer<double>(&turn_radius_ft));
+    props->tie("controls/turn-radius-corrected-ft",
+        SGRawValuePointer<double>(&_rd_turn_radius_ft));
+    props->tie("controls/constants/lead-angle/gain",
+        SGRawValuePointer<double>(&_lead_angle_gain));
+    props->tie("controls/constants/lead-angle/limit-deg",
+        SGRawValuePointer<double>(&_lead_angle_limit));
+    props->tie("controls/constants/lead-angle/proportion",
+        SGRawValuePointer<double>(&_proportion));
+    props->tie("controls/fixed-turn-radius-ft",
+        SGRawValuePointer<double>(&_fixed_turn_radius));
 }
 
 void FGAIShip::unbind() {
@@ -172,20 +204,30 @@ void FGAIShip::unbind() {
     props->untie("controls/constants/rudder");
     props->untie("controls/constants/roll-factor");
     props->untie("controls/constants/speed");
-    props->untie("position/waypoint-range-nm");
+    props->untie("waypoint/range-nm");
-    props->untie("position/waypoint-range-old-nm");
+    props->untie("waypoint/range-brg-deg");
-    props->untie("position/waypoint-range-rate-nm-sec");
+    props->untie("waypoint/rangerate-nm-sec");
-    props->untie("position/waypoint-new");
+    props->untie("waypoint/new");
-    props->untie("position/waypoint-missed");
+    props->untie("waypoint/missed");
-    props->untie("position/waypoint-missed-count");
+    props->untie("waypoint/missed-count-sec");
-    props->untie("position/waypoint-missed-time-sec");
+    props->untie("waypoint/missed-time-sec");
-    props->untie("position/waypoint-wait-count");
+    props->untie("waypoint/missed-range");
-    props->untie("position/waypoint-waiting");
+    props->untie("waypoint/wait-count-sec");
+    props->untie("waypoint/lead-angle-deg");
+    props->untie("waypoint/xtrack-error-ft");
+    props->untie("waypoint/waiting");
     props->untie("submodels/serviceable");
     props->untie("controls/turn-radius-ft");
-}
+    props->untie("controls/turn-radius-corrected-ft");
+    props->untie("controls/constants/lead-angle/gain");
+    props->untie("controls/constants/lead-angle/limit-deg");
+    props->untie("controls/constants/lead-angle/proportion");
+    props->untie("controls/fixed-turn-radius-ft");
+    props->untie("controls/constants/speed");
 
+}
 void FGAIShip::update(double dt) {
+    //SG_LOG(SG_GENERAL, 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
     // but by just apply discrete changes at its velocity variables.
@@ -209,6 +251,8 @@ void FGAIShip::update(double dt) {
     FGAIBase::update(dt);
     Run(dt);
     Transform();
+    if (fp)
+        setXTrackError();
 
     // Only change these values if we are able to compute them safely
     if (SGLimits<double>::min() < dt) {
@@ -230,12 +274,11 @@ void FGAIShip::update(double dt) {
 }
 
 void FGAIShip::Run(double dt) {
-    //cout << _name << " init: " << _fp_init << endl;
     if (_fp_init)
         ProcessFlightPlan(dt);
 
-    //    double speed_north_deg_sec;
+    string type = getTypeString();
-    //    double speed_east_deg_sec;
+
     double alpha;
     double rudder_limit;
     double raw_roll;
@@ -253,9 +296,9 @@ void FGAIShip::Run(double dt) {
 
     }
 
-    // do not allow unreasonable ship speeds
+    // do not allow unreasonable speeds
-    if (speed > 40)
+    if (speed > _limit)
-        speed = 40;
+        speed = _limit;
 
     // convert speed to degrees per second
     speed_north_deg_sec = cos(hdg / SGD_RADIANS_TO_DEGREES)
@@ -264,8 +307,11 @@ void FGAIShip::Run(double dt) {
         * speed * 1.686 / ft_per_deg_lon;
 
     // set new position
+    //cout << _name << " " << type << " run: " << _elevation_m << " " <<_elevation_ft << endl;
     pos.setLatitudeDeg(pos.getLatitudeDeg() + speed_north_deg_sec * dt);
     pos.setLongitudeDeg(pos.getLongitudeDeg() + speed_east_deg_sec * dt);
+    pos.setElevationFt(tgt_altitude_ft);
+    pitch = tgt_pitch;
 
     // adjust heading based on current _rudder angle
     if (turn_radius_ft <= 0)
@@ -277,13 +323,19 @@ void FGAIShip::Run(double dt) {
     if (_rudder < -45)
         _rudder = -45;
 
+
     //we assume that at slow speed ships will manoeuvre using engines/bow thruster
     if (fabs(speed)<=5)
-        _sp_turn_radius_ft = 500;
+        _sp_turn_radius_ft = _fixed_turn_radius;
-    else
+    else {
         // adjust turn radius for speed. The equation is very approximate.
         // we need to allow for negative speeds
+        if (type == "ship")
         _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
+        else
+            _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.
@@ -295,7 +347,7 @@ void FGAIShip::Run(double dt) {
 
         // calculate the angle, alpha, subtended by the arc traversed in time dt
         alpha = ((speed * 1.686 * dt) / _rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES;
-
+        //cout << _name << " alpha " << alpha << endl;
         // make sure that alpha is applied in the right direction
         hdg += alpha * sign(_rudder);
 
@@ -345,11 +397,16 @@ void FGAIShip::Run(double dt) {
     }
 
     // set the _rudder limit by speed
+    if (type == "ship"){
+
     if (speed <= 40)
         rudder_limit = (-0.825 * speed) + 35;
     else
         rudder_limit = 2;
 
+    } else
+        rudder_limit = 20;
+
     if (fabs(rudder_diff)> 0.1) { // apply dead zone
 
         if (rudder_diff > 0.0) {
@@ -387,11 +444,20 @@ void FGAIShip::YawTo(double angle) {
 }
 
 void FGAIShip::ClimbTo(double altitude) {
+    tgt_altitude_ft = altitude;
+    _setAltitude(altitude);
 }
 
-
 void FGAIShip::TurnTo(double heading) {
-    tgt_heading = heading;
+    //double relbrg_corr = _relbrg;
+
+    //if ( relbrg_corr > 5)
+    //    relbrg_corr = 5;
+    //else if( relbrg_corr < -5)
+    //    relbrg_corr = -5;
+
+    tgt_heading = heading - _lead_angle + _tow_angle;
+    SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
     _hdg_lock = true;
 }
 
@@ -416,22 +482,22 @@ void FGAIShip::setStartTime(const string& st) {
 
 void FGAIShip::setUntilTime(const string& ut) {
     _until_time = ut;
-    props->setStringValue("position/waypoint-wait-until-time", _until_time.c_str());
+    props->setStringValue("waypoint/wait-until-time", _until_time.c_str());
 }
 
 void FGAIShip::setCurrName(const string& c) {
     _curr_name = c;
-    props->setStringValue("position/waypoint-name-curr", _curr_name.c_str());
+    props->setStringValue("waypoint/name-curr", _curr_name.c_str());
 }
 
 void FGAIShip::setNextName(const string& n) {
     _next_name = n;
-    props->setStringValue("position/waypoint-name-next", _next_name.c_str());
+    props->setStringValue("waypoint/name-next", _next_name.c_str());
 }
 
 void FGAIShip::setPrevName(const string& p) {
     _prev_name = p;
-    props->setStringValue("position/waypoint-name-prev", _prev_name.c_str());
+    props->setStringValue("waypoint/name-prev", _prev_name.c_str());
 }
 
 void FGAIShip::setRepeat(bool r) {
@@ -440,7 +506,7 @@ void FGAIShip::setRepeat(bool r) {
 
 void FGAIShip::setMissed(bool m) {
     _missed = m;
-    props->setBoolValue("position/waypoint-missed", _missed);
+    props->setBoolValue("waypoint/missed", _missed);
 }
 
 void FGAIShip::setRudder(float r) {
@@ -451,6 +517,30 @@ void FGAIShip::setRoll(double rl) {
     roll = rl;
 }
 
+void FGAIShip::setLeadAngleGain(double g) {
+    _lead_angle_gain = g;
+}
+
+void FGAIShip::setLeadAngleLimit(double l) {
+    _lead_angle_limit = l;
+}
+
+void FGAIShip::setLeadAngleProp(double p) {
+    _proportion = p;
+}
+
+void FGAIShip::setRudderConstant(double rc) {
+    _rudder_constant = rc;
+}
+
+void FGAIShip::setSpeedConstant(double sc) {
+    _speed_constant = sc;
+}
+
+void FGAIShip::setFixedTurnRadius(double ftr) {
+    _fixed_turn_radius = ftr;
+}
+
 void FGAIShip::setWPNames() {
 
     if (prev != 0)
@@ -458,7 +548,12 @@ void FGAIShip::setWPNames() {
     else
         setPrevName("");
 
+    if (curr != 0)
     setCurrName(curr->name);
+    else{
+        setCurrName("");
+        SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: current wp name error" );
+    }
 
     if (next != 0)
         setNextName(next->name);
@@ -489,8 +584,10 @@ double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) con
     geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &recip, &distance);
     if (tgt_speed >= 0) {
         return course;
+        SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: course " << course);
     } else {
         return recip;
+        SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: recip " << recip);
     }
 }
 
@@ -520,33 +617,39 @@ void FGAIShip::ProcessFlightPlan(double dt) {
     _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
     _range_rate = (_wp_range - _old_range) / _dt_count;
     double sp_turn_radius_nm = _sp_turn_radius_ft / 6076.1155;
-
     // we need to try to identify a _missed waypoint
 
-    // calculate the time needed to turn through an arc of 90 degrees, and allow an error of 30 secs
+    // calculate the time needed to turn through an arc of 90 degrees,
+    // and allow a time error
     if (speed != 0)
-        _missed_time_sec = 30 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed)));
+        _missed_time_sec = 10 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed)));
     else
-        _missed_time_sec = 30;
+        _missed_time_sec = 10;
 
-    if ((_range_rate > 0) && (_wp_range < 3 * sp_turn_radius_nm) && !_new_waypoint)
+    _missed_range = 4 * sp_turn_radius_nm;
+
+    //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){
         _missed_count += _dt_count;
-
-    if (_missed_count >= _missed_time_sec) {
-        setMissed(true);
-    } else {
-        setMissed(false);
     }
 
+    if (_missed_count >= 120)
+        setMissed(true);
+    else if (_missed_count >= _missed_time_sec)
+        setMissed(true);
+    else
+        setMissed(false);
+
     _old_range = _wp_range;
     setWPNames();
 
-    if ((_wp_range < sp_turn_radius_nm) || _missed || (_waiting && !_new_waypoint)) {
+    if ((_wp_range < (sp_turn_radius_nm * 1.25)) || _missed || (_waiting && !_new_waypoint)) {
 
-        if (_next_name == "END") {
+        if (_next_name == "END" || fp->getNextWaypoint() == 0) {
 
             if (_repeat) {
-                SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: Flightplan restarting ");
+                SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << "Flightplan restarting ");
                 fp->restart();
                 prev = curr;
                 curr = fp->getCurrentWaypoint();
@@ -557,9 +660,10 @@ void FGAIShip::ProcessFlightPlan(double dt) {
                 _range_rate = 0;
                 _new_waypoint = true;
                 _missed_count = 0;
+                _lead_angle = 0;
                 AccelTo(prev->speed);
             } else {
-                SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: Flightplan dieing ");
+                SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan dying ");
                 setDie(true);
                 _dt_count = 0;
                 return;
@@ -573,6 +677,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
                 _waiting = true;
                 _wait_count += _dt_count;
                 _dt_count = 0;
+                _lead_angle = 0;
                 return;
             } else {
                 SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name
@@ -598,9 +703,11 @@ void FGAIShip::ProcessFlightPlan(double dt) {
             _until_time = next->time;
             setUntilTime(next->time);
             if (until_time_sec > time_sec) {
-                SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " waiting until: "
+                SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " "
+                    << curr->name << " waiting until: "
                     << _until_time << " " << until_time_sec << " now " << time_sec );
                 setSpeed(0);
+                _lead_angle = 0;
                 _waiting = true;
                 return;
             } else {
@@ -637,27 +744,30 @@ void FGAIShip::ProcessFlightPlan(double dt) {
         _new_waypoint = true;
         _missed_count = 0;
         _range_rate = 0;
+        _lead_angle = 0;
         _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
         _old_range = _wp_range;
+        setWPPos();
         AccelTo(prev->speed);
+
     } else {
         _new_waypoint = false;
     }
 
     //   now revise the required course for the next way point
-    double course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
+    _course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
 
-    if (finite(course))
+    if (finite(_course))
-        TurnTo(course);
+        TurnTo(_course);
     else
-        SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: Bearing or Range is not a finite number");
+        SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: Bearing or Range is not a finite number");
 
      _dt_count = 0;
 } // end Processing FlightPlan
 
 bool FGAIShip::initFlightPlan() {
 
-    SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " initializing waypoints ");
+    SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initializing waypoints ");
 
     bool init = false;
 
@@ -719,7 +829,7 @@ bool FGAIShip::initFlightPlan() {
     _missed_count = 0;
     _new_waypoint = true;
 
-    SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " done initialising waypoints ");
+    SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints ");
     if (prev)
         init = true;
 
@@ -771,7 +881,7 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
 
     while ( elapsed_sec < day_sec ) {
 
-        if (next->name == "END") {
+        if (next->name == "END" || fp->getNextWaypoint() == 0) {
 
             if (_repeat ) {
                 //cout << _name << ": " << "restarting flightplan" << endl;
@@ -847,6 +957,7 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
     // the required position lies between the previous and current waypoints
     // so we will calculate the distance back up the track from the current waypoint
     // then calculate the lat and lon.
+
     /*cout << "advancing flight plan done elapsed_sec: " << elapsed_sec
         << " " << day_sec << endl;*/
 
@@ -883,9 +994,57 @@ bool FGAIShip::advanceFlightPlan (double start_sec, double day_sec) {
             distance_nm * SG_NM_TO_METER, &lat, &lon, &recip );
     }
 
-    //cout << "Pos " << lat << ", " << lon << " recip " << recip << endl;
-
     setLatitude(lat);
     setLongitude(lon);
+
     return true;
 }
+
+void FGAIShip::setWPPos() {
+
+    if (curr->name == "END" || curr->name == "WAIT" || curr->name == "WAITUNTIL"){
+        cout<< curr->name << endl;
+        return;
+    }
+
+    double elevation_m = 0;
+    wppos.setLatitudeDeg(curr->latitude);
+    wppos.setLongitudeDeg(curr->longitude);
+    wppos.setElevationFt(0);
+
+    if (curr->on_ground){
+
+        if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(wppos, 10000),
+            elevation_m, &_material)){
+                wppos.setElevationM(elevation_m);
+        }
+
+    } else {
+        wppos.setElevationFt(curr->altitude);
+    }
+
+}
+
+void FGAIShip::setXTrackError() {
+
+    double course = getCourse(prev->latitude, prev->longitude,
+        curr->latitude, curr->longitude);
+    double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
+        curr->latitude, curr->longitude);
+    double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range;
+
+    //if (_wp_range > _sp_turn_radius_ft / (2 * 6076.1155)){
+    if (_wp_range > 0){
+        _lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
+    } else
+        _lead_angle = 0;
+
+    _lead_angle *= _lead_angle_gain;
+    _xtrack_error = xtrack_error_nm * 6076.1155;
+
+    if (_lead_angle<= -_lead_angle_limit)
+        _lead_angle = -_lead_angle_limit;
+    else if (_lead_angle >= _lead_angle_limit)
+        _lead_angle = _lead_angle_limit;
+
+}

src/AIModel/AIShip.hxx

@@ -24,6 +24,7 @@
 
 #include "AIBase.hxx"
 #include "AIFlightPlan.hxx"
+#include <simgear/scene/material/mat.hxx>
 
 class FGAIManager;
 
@@ -54,11 +55,28 @@ public:
     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 setWPNames();
+    double sign(double x);
 
     bool _hdg_lock;
     bool _serviceable;
+    bool _waiting;
+    bool _new_waypoint;
 
     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;
+
+    FGAIFlightPlan::waypoint* prev; // the one behind you
+    FGAIFlightPlan::waypoint* curr; // the one ahead
+    FGAIFlightPlan::waypoint* next; // the next plus 1
 
 protected:
 
@@ -66,24 +84,27 @@ protected:
 
 private:
 
-    FGAIFlightPlan::waypoint* prev; // the one behind you
+
-    FGAIFlightPlan::waypoint* curr; // the one ahead
-    FGAIFlightPlan::waypoint* next; // the next plus 1
 
     virtual void reinit() { init(); }
 
     void setRepeat(bool r);
     void setMissed(bool m);
-    void setWPNames();
+
     void 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 sign(double x);
     double getDaySeconds();
     double processTimeString(const string& time);
 
@@ -92,14 +113,18 @@ private:
 
     float _rudder, _tgt_rudder;
 
-    double _rudder_constant, _roll_constant, _speed_constant, _hdg_constant, _roll_factor;
+    double _roll_constant, _roll_factor;
-    double _sp_turn_radius_ft, _rd_turn_radius_ft;
+    double _sp_turn_radius_ft, _rd_turn_radius_ft, _fixed_turn_radius;
     double _wp_range, _old_range, _range_rate;
-    double _dt_count, _missed_count, _wait_count;
+    double _dt_count, _missed_count;
     double _next_run;
     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;
 
     string _prev_name, _curr_name, _next_name;
     string _path;
@@ -107,8 +132,7 @@ private:
 
     bool _repeat;
     bool _fp_init;
-    bool _new_waypoint;
+    bool _missed;
-    bool _missed, _waiting;
 
 };
 

src/AIModel/Makefile.am

@@ -17,6 +17,7 @@ libAIModel_a_SOURCES = submodel.cxx submodel.hxx 	\
 			AIStatic.hxx AIStatic.cxx \
 			AITanker.cxx AITanker.hxx \
 			AIWingman.cxx AIWingman.hxx\
+			AIGroundVehicle.cxx AIGroundVehicle.hxx \
 			performancedata.cxx performancedata.hxx \
 			performancedb.cxx performancedb.hxx