From bc12f0be21d703653620743b6bf86db7c78a69cd Mon Sep 17 00:00:00 2001
From: Vivian Meazza <vivian.meazza@lineone.net>
Date: Thu, 2 Sep 2010 09:24:45 +0100
Subject: [PATCH] Walk the AImodels property tree only once at init, rather
than at update. Should have a beneficial effect on frame rate, but in
practice makes no discernible improvement. It is cleaner code though.
Signed-off-by: Vivian Meazza <vivian.meazza@lineone.net>
---
src/AIModel/AIBallistic.cxx | 4 +
src/AIModel/AIBallistic.hxx | 1 +
src/AIModel/AIEscort.cxx | 926 +++++++++++++++++---------------
src/AIModel/AIEscort.hxx | 213 ++++----
src/AIModel/AIGroundVehicle.cxx | 83 +--
src/AIModel/AIGroundVehicle.hxx | 212 ++++----
src/AIModel/AIShip.cxx | 15 +-
src/AIModel/AIWingman.cxx | 7 +
8 files changed, 763 insertions(+), 698 deletions(-)
diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx
index 0306c3ec5..2f5bb4f6f 100644
--- a/src/AIModel/AIBallistic.cxx
+++ b/src/AIModel/AIBallistic.cxx
@@ -479,6 +479,10 @@ bool FGAIBallistic::getSlaved() const {
return _slave_to_ac;
}
+bool FGAIBallistic::getFormate() const {
+ return _formate_to_ac;
+}
+
double FGAIBallistic::getMass() const {
return _mass;
}
diff --git a/src/AIModel/AIBallistic.hxx b/src/AIModel/AIBallistic.hxx
index c9613de89..91a50acbd 100644
--- a/src/AIModel/AIBallistic.hxx
+++ b/src/AIModel/AIBallistic.hxx
@@ -105,6 +105,7 @@ public:
bool getHtAGL(double start);
bool getSlaved() const;
+ bool getFormate() const;
bool getSlavedLoad() const;
virtual const char* getTypeString(void) const { return "ballistic"; }
diff --git a/src/AIModel/AIEscort.cxx b/src/AIModel/AIEscort.cxx
index c9901ca24..5ef848535 100644
--- a/src/AIModel/AIEscort.cxx
+++ b/src/AIModel/AIEscort.cxx
@@ -1,443 +1,483 @@
-// FGAIEscort - 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 <algorithm>
-#include <string>
-#include <vector>
-
-#include <simgear/sg_inlines.h>
-#include <simgear/math/SGMath.hxx>
-#include <simgear/math/sg_geodesy.hxx>
-
-#include <math.h>
-#include <Main/util.hxx>
-#include <Main/viewer.hxx>
-
-#include <Scenery/scenery.hxx>
-#include <Scenery/tilemgr.hxx>
-
-#include "AIEscort.hxx"
-
-using std::string;
-
-FGAIEscort::FGAIEscort() :
-FGAIShip(otEscort),
-
-_selected_ac(0),
-_relbrg (0),
-_stn_truebrg(0),
-_parent_speed(0),
-_stn_limit(0),
-_stn_angle_limit(0),
-_stn_speed(0),
-_stn_height(0),
-_max_speed(0),
-_interval(0),
-_MPControl(false),
-_patrol(false),
-_stn_deg_true(false),
-_parent("")
-
-{
- invisible = false;
-}
-
-FGAIEscort::~FGAIEscort() {}
-
-void FGAIEscort::readFromScenario(SGPropertyNode* scFileNode) {
- if (!scFileNode)
- return;
-
- FGAIShip::readFromScenario(scFileNode);
-
- setName(scFileNode->getStringValue("name", "Escort"));
- setSMPath(scFileNode->getStringValue("submodel-path", ""));
- setStnRange(scFileNode->getDoubleValue("station/range-nm", 1));
- setStnBrg(scFileNode->getDoubleValue("station/brg-deg", 0.0));
- setStnLimit(scFileNode->getDoubleValue("station/range-limit-nm", 0.2));
- setStnAngleLimit(scFileNode->getDoubleValue("station/angle-limit-deg", 15.0));
- setStnSpeed(scFileNode->getDoubleValue("station/speed-kts", 2.5));
- setStnPatrol(scFileNode->getBoolValue("station/patrol", false));
- setStnHtFt(scFileNode->getDoubleValue("station/height-ft", 0.0));
- setStnDegTrue(scFileNode->getBoolValue("station/deg-true", false));
- setParentName(scFileNode->getStringValue("station/parent", ""));
- setMaxSpeed(scFileNode->getDoubleValue("max-speed-kts", 30.0));
- setUpdateInterval(scFileNode->getDoubleValue("update-interval-sec", 10.0));
- setCallSign(scFileNode->getStringValue("callsign", ""));
-
- if(_patrol)
- sg_srandom_time();
-
-}
-
-void FGAIEscort::bind() {
- FGAIShip::bind();
-
- props->tie("station/rel-bearing-deg",
- SGRawValuePointer<double>(&_stn_relbrg));
- props->tie("station/true-bearing-deg",
- SGRawValuePointer<double>(&_stn_truebrg));
- props->tie("station/range-nm",
- SGRawValuePointer<double>(&_stn_range));
- props->tie("station/range-limit-nm",
- SGRawValuePointer<double>(&_stn_limit));
- props->tie("station/angle-limit-deg",
- SGRawValuePointer<double>(&_stn_angle_limit));
- props->tie("station/speed-kts",
- SGRawValuePointer<double>(&_stn_speed));
- props->tie("station/height-ft",
- SGRawValuePointer<double>(&_stn_height));
- props->tie("controls/update-interval-sec",
- SGRawValuePointer<double>(&_interval));
- props->tie("controls/parent-mp-control",
- SGRawValuePointer<bool>(&_MPControl));
- props->tie("station/target-range-nm",
- SGRawValuePointer<double>(&_tgtrange));
- props->tie("station/target-brg-deg-t",
- SGRawValuePointer<double>(&_tgtbrg));
- props->tie("station/patrol",
- SGRawValuePointer<bool>(&_patrol));
-}
-
-void FGAIEscort::unbind() {
- FGAIShip::unbind();
-
- props->untie("station/rel-bearing-deg");
- props->untie("station/true-bearing-deg");
- props->untie("station/range-nm");
- props->untie("station/range-limit-nm");
- props->untie("station/angle-limit-deg");
- props->untie("station/speed-kts");
- props->untie("station/height-ft");
- props->untie("controls/update-interval-sec");
-
-}
-
-bool FGAIEscort::init(bool search_in_AI_path) {
- if (!FGAIShip::init(search_in_AI_path))
- return false;
-
- invisible = false;
- no_roll = false;
-
- props->setStringValue("controls/parent-name", _parent.c_str());
- setParent();
- pos = _tgtpos;
- speed = _parent_speed;
- hdg = _parent_hdg;
-
- return true;
-}
-
-void FGAIEscort::update(double dt) {
- FGAIShip::update(dt);
-
- RunEscort(dt);
-}
-
-void FGAIEscort::setStnRange(double r) {
- _stn_range = r;
-}
-
-void FGAIEscort::setStnBrg(double b) {
- _stn_brg = b;
-}
-
-void FGAIEscort::setStnLimit(double l) {
- _stn_limit = l;
-}
-
-void FGAIEscort::setStnAngleLimit(double al) {
- _stn_angle_limit = al;
-}
-
-void FGAIEscort::setStnSpeed(double s) {
- _stn_speed = s;
-}
-
-void FGAIEscort::setStnHtFt(double h) {
- _stn_height = h;
-}
-
-void FGAIEscort::setStnDegTrue(bool t) {
- _stn_deg_true = t;
-}
-
-void FGAIEscort::setMaxSpeed(double m) {
- _max_speed = m;
-}
-
-void FGAIEscort::setUpdateInterval(double i) {
- _interval = i;
-}
-
-void FGAIEscort::setStnPatrol(bool p) {
- _patrol = p;
-}
-
-void FGAIEscort::setParentName(const string& p) {
- _parent = p;
-}
-
-bool FGAIEscort::getGroundElev(SGGeod inpos) {
-
- double height_m ;
-
- if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(inpos, 3000), height_m, &_material,0)){
- _ht_agl_ft = inpos.getElevationFt() - height_m * SG_METER_TO_FEET;
-
- if (_material) {
- const vector<string>& names = _material->get_names();
-
- _solid = _material->get_solid();
-
- if (!names.empty())
- props->setStringValue("material/name", names[0].c_str());
- else
- props->setStringValue("material/name", "");
-
- //cout << "material " << names[0].c_str()
- // << " _elevation_m " << _elevation_m
- // << " solid " << _solid
- // << " load " << _load_resistance
- // << " frictionFactor " << _frictionFactor
- // << endl;
-
- }
-
- return true;
- } else {
- return false;
- }
-
-}
-
-void FGAIEscort::setParent() {
-
- const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
-
- for (int i = ai->nChildren() - 1; i >= -1; i--) {
- SGPropertyNode_ptr model;
-
- if (i < 0) { // last iteration: selected model
- model = _selected_ac;
- } else {
- model = ai->getChild(i);
- string path = ai->getPath();
- const string name = model->getStringValue("name");
-
- if (!model->nChildren()){
- continue;
- }
- if (name == _parent) {
- _selected_ac = model; // save selected model for last iteration
- break;
- }
-
- }
- if (!model)
- continue;
-
- }// end for loop
-
- if (_selected_ac != 0){
- const string name = _selected_ac->getStringValue("name");
- double lat = _selected_ac->getDoubleValue("position/latitude-deg");
- double lon = _selected_ac->getDoubleValue("position/longitude-deg");
- double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
- _MPControl = _selected_ac->getBoolValue("controls/mp-control");
-
- _selectedpos.setLatitudeDeg(lat);
- _selectedpos.setLongitudeDeg(lon);
- _selectedpos.setElevationFt(elevation);
-
- _parent_speed = _selected_ac->getDoubleValue("velocities/speed-kts");
- _parent_hdg = _selected_ac->getDoubleValue("orientation/true-heading-deg");
-
- if(!_stn_deg_true){
- _stn_truebrg = calcTrueBearingDeg(_stn_brg, _parent_hdg);
- _stn_relbrg = _stn_brg;
- //cout << _name <<" set rel"<<endl;
- } else {
- _stn_truebrg = _stn_brg;
- _stn_relbrg = calcRelBearingDeg(_stn_brg, _parent_hdg);
- //cout << _name << " set true"<<endl;
- }
-
- double course2;
-
- SGGeodesy::direct( _selectedpos, _stn_truebrg, _stn_range * SG_NM_TO_METER,
- _tgtpos, course2);
-
- _tgtpos.setElevationFt(_stn_height);
-
- calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
- _tgtpos.getLatitudeDeg(), _tgtpos.getLongitudeDeg(), _tgtrange, _tgtbrg);
-
- _relbrg = calcRelBearingDeg(_tgtbrg, hdg);
-
- } else {
- SG_LOG(SG_GENERAL, SG_ALERT, "AIEscort: " << _name
- << " parent not found: dying ");
- setDie(true);
- }
-
-}
-
-void FGAIEscort::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 FGAIEscort::calcRelBearingDeg(double bearing, double heading)
-{
- double angle = bearing - heading;
- SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
- return angle;
-}
-
-double FGAIEscort::calcTrueBearingDeg(double bearing, double heading)
-{
- double angle = bearing + heading;
- SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
- return angle;
-}
-
-double FGAIEscort::calcRecipBearingDeg(double bearing)
-{
- double angle = bearing - 180;
- SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
- return angle;
-}
-
-SGVec3d FGAIEscort::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 FGAIEscort::setStationSpeed(){
-
- double speed = 0;
- double angle = 0;
-
- // these are the AI rules for the manoeuvring of escorts
-
- if (_MPControl && _tgtrange > 4 * _stn_limit){
- SG_LOG(SG_GENERAL, SG_ALERT, "AIEscort: " << _name
- << " re-aligning to MP pos");
- pos = _tgtpos;
- speed = 0;
- angle = 0;
- }else if ((_relbrg < -90 || _relbrg > 90) && _tgtrange > _stn_limit ){
- angle =_relbrg;
-
- if(_tgtrange > 4 * _stn_limit)
- speed = 4 * -_stn_speed;
- else
- speed = -_stn_speed;
-
- }else if ((_relbrg >= -90 || _relbrg <= 90) && _tgtrange > _stn_limit){
- angle = _relbrg;
-
- if(_tgtrange > 4 * _stn_limit)
- speed = 4 * _stn_speed;
- else
- speed = _stn_speed;
-
- } else {
-
- if(_patrol){
- angle = 15 * sg_random();
- speed = 5 * sg_random();
- } else {
- angle = 0;
- speed = 0;
- }
-
- }
-
- double station_speed = _parent_speed + speed;
-
- SG_CLAMP_RANGE(station_speed, 5.0, _max_speed);
- SG_CLAMP_RANGE(angle, -_stn_angle_limit, _stn_angle_limit);
-
- AccelTo(station_speed);
- TurnTo(_parent_hdg + angle);
- ClimbTo(_stn_height);
-
-}
-
-void FGAIEscort::RunEscort(double dt){
-
- _dt_count += dt;
-
-
-
- ///////////////////////////////////////////////////////////////////////////
- // Check execution time (currently once every 0.05 sec or 20 fps)
- // Add a bit of randomization to prevent the execution of all flight plans
- // in synchrony, which can add significant periodic framerate flutter.
- // Randomization removed to get better appearance
- ///////////////////////////////////////////////////////////////////////////
-
- //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
- if (_dt_count < _next_run)
- return;
- _next_run = _interval /*+ (0.015 * sg_random())*/;
-
- if(_parent == ""){
- return;
- }
-
- setParent();
- setStationSpeed();
- //getGroundElev(pos);
-
- _dt_count = 0;
-
-}
-
-// end AIGroundvehicle
+// FGAIEscort - 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 <algorithm>
+#include <string>
+#include <vector>
+
+#include <simgear/sg_inlines.h>
+#include <simgear/math/SGMath.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+
+#include <math.h>
+#include <Main/util.hxx>
+#include <Main/viewer.hxx>
+
+#include <Scenery/scenery.hxx>
+#include <Scenery/tilemgr.hxx>
+
+#include "AIEscort.hxx"
+
+using std::string;
+
+FGAIEscort::FGAIEscort() :
+FGAIShip(otEscort),
+
+_selected_ac(0),
+_relbrg (0),
+_stn_truebrg(0),
+_parent_speed(0),
+_stn_limit(0),
+_stn_angle_limit(0),
+_stn_speed(0),
+_stn_height(0),
+_max_speed(0),
+_interval(0),
+_MPControl(false),
+_patrol(false),
+_stn_deg_true(false),
+_parent("")
+
+{
+ invisible = false;
+}
+
+FGAIEscort::~FGAIEscort() {}
+
+void FGAIEscort::readFromScenario(SGPropertyNode* scFileNode) {
+ if (!scFileNode)
+ return;
+
+ FGAIShip::readFromScenario(scFileNode);
+
+ setName(scFileNode->getStringValue("name", "Escort"));
+ setSMPath(scFileNode->getStringValue("submodel-path", ""));
+ setStnRange(scFileNode->getDoubleValue("station/range-nm", 1));
+ setStnBrg(scFileNode->getDoubleValue("station/brg-deg", 0.0));
+ setStnLimit(scFileNode->getDoubleValue("station/range-limit-nm", 0.2));
+ setStnAngleLimit(scFileNode->getDoubleValue("station/angle-limit-deg", 15.0));
+ setStnSpeed(scFileNode->getDoubleValue("station/speed-kts", 2.5));
+ setStnPatrol(scFileNode->getBoolValue("station/patrol", false));
+ setStnHtFt(scFileNode->getDoubleValue("station/height-ft", 0.0));
+ setStnDegTrue(scFileNode->getBoolValue("station/deg-true", false));
+ setParentName(scFileNode->getStringValue("station/parent", ""));
+ setMaxSpeed(scFileNode->getDoubleValue("max-speed-kts", 30.0));
+ setUpdateInterval(scFileNode->getDoubleValue("update-interval-sec", 10.0));
+ setCallSign(scFileNode->getStringValue("callsign", ""));
+
+ if(_patrol)
+ sg_srandom_time();
+
+}
+
+void FGAIEscort::bind() {
+ FGAIShip::bind();
+
+ props->tie("station/rel-bearing-deg",
+ SGRawValuePointer<double>(&_stn_relbrg));
+ props->tie("station/true-bearing-deg",
+ SGRawValuePointer<double>(&_stn_truebrg));
+ props->tie("station/range-nm",
+ SGRawValuePointer<double>(&_stn_range));
+ props->tie("station/range-limit-nm",
+ SGRawValuePointer<double>(&_stn_limit));
+ props->tie("station/angle-limit-deg",
+ SGRawValuePointer<double>(&_stn_angle_limit));
+ props->tie("station/speed-kts",
+ SGRawValuePointer<double>(&_stn_speed));
+ props->tie("station/height-ft",
+ SGRawValuePointer<double>(&_stn_height));
+ props->tie("controls/update-interval-sec",
+ SGRawValuePointer<double>(&_interval));
+ props->tie("controls/parent-mp-control",
+ SGRawValuePointer<bool>(&_MPControl));
+ props->tie("station/target-range-nm",
+ SGRawValuePointer<double>(&_tgtrange));
+ props->tie("station/target-brg-deg-t",
+ SGRawValuePointer<double>(&_tgtbrg));
+ props->tie("station/patrol",
+ SGRawValuePointer<bool>(&_patrol));
+}
+
+void FGAIEscort::unbind() {
+ FGAIShip::unbind();
+
+ props->untie("station/rel-bearing-deg");
+ props->untie("station/true-bearing-deg");
+ props->untie("station/range-nm");
+ props->untie("station/range-limit-nm");
+ props->untie("station/angle-limit-deg");
+ props->untie("station/speed-kts");
+ props->untie("station/height-ft");
+ props->untie("controls/update-interval-sec");
+
+}
+
+bool FGAIEscort::init(bool search_in_AI_path) {
+ if (!FGAIShip::init(search_in_AI_path))
+ return false;
+
+ invisible = false;
+ no_roll = false;
+
+ props->setStringValue("controls/parent-name", _parent.c_str());
+ setParentNode();
+ pos = _tgtpos;
+ speed = _parent_speed;
+ hdg = _parent_hdg;
+
+ return true;
+}
+
+void FGAIEscort::update(double dt) {
+ FGAIShip::update(dt);
+
+ RunEscort(dt);
+}
+
+void FGAIEscort::setStnRange(double r) {
+ _stn_range = r;
+}
+
+void FGAIEscort::setStnBrg(double b) {
+ _stn_brg = b;
+}
+
+void FGAIEscort::setStnLimit(double l) {
+ _stn_limit = l;
+}
+
+void FGAIEscort::setStnAngleLimit(double al) {
+ _stn_angle_limit = al;
+}
+
+void FGAIEscort::setStnSpeed(double s) {
+ _stn_speed = s;
+}
+
+void FGAIEscort::setStnHtFt(double h) {
+ _stn_height = h;
+}
+
+void FGAIEscort::setStnDegTrue(bool t) {
+ _stn_deg_true = t;
+}
+
+void FGAIEscort::setMaxSpeed(double m) {
+ _max_speed = m;
+}
+
+void FGAIEscort::setUpdateInterval(double i) {
+ _interval = i;
+}
+
+void FGAIEscort::setStnPatrol(bool p) {
+ _patrol = p;
+}
+
+void FGAIEscort::setParentName(const string& p) {
+ _parent = p;
+}
+
+bool FGAIEscort::getGroundElev(SGGeod inpos) {
+
+ double height_m ;
+
+ if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(inpos, 3000), height_m, &_material,0)){
+ _ht_agl_ft = inpos.getElevationFt() - height_m * SG_METER_TO_FEET;
+
+ if (_material) {
+ const vector<string>& names = _material->get_names();
+
+ _solid = _material->get_solid();
+
+ if (!names.empty())
+ props->setStringValue("material/name", names[0].c_str());
+ else
+ props->setStringValue("material/name", "");
+
+ //cout << "material " << names[0].c_str()
+ // << " _elevation_m " << _elevation_m
+ // << " solid " << _solid
+ // << " load " << _load_resistance
+ // << " frictionFactor " << _frictionFactor
+ // << endl;
+
+ }
+
+ return true;
+ } else {
+ return false;
+ }
+
+}
+
+void FGAIEscort::setParentNode() {
+
+ const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
+
+ for (int i = ai->nChildren() - 1; i >= -1; i--) {
+ SGPropertyNode_ptr model;
+
+ if (i < 0) { // last iteration: selected model
+ model = _selected_ac;
+ } else {
+ model = ai->getChild(i);
+ string path = ai->getPath();
+ const string name = model->getStringValue("name");
+
+ if (!model->nChildren()){
+ continue;
+ }
+ if (name == _parent) {
+ _selected_ac = model; // save selected model for last iteration
+ break;
+ }
+
+ }
+ if (!model)
+ continue;
+
+ }// end for loop
+
+ if (_selected_ac != 0){
+ const string name = _selected_ac->getStringValue("name");
+ setParent();
+
+ //double lat = _selected_ac->getDoubleValue("position/latitude-deg");
+ //double lon = _selected_ac->getDoubleValue("position/longitude-deg");
+ //double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
+ //_MPControl = _selected_ac->getBoolValue("controls/mp-control");
+
+ //_selectedpos.setLatitudeDeg(lat);
+ //_selectedpos.setLongitudeDeg(lon);
+ //_selectedpos.setElevationFt(elevation);
+
+ //_parent_speed = _selected_ac->getDoubleValue("velocities/speed-kts");
+ //_parent_hdg = _selected_ac->getDoubleValue("orientation/true-heading-deg");
+
+ //if(!_stn_deg_true){
+ // _stn_truebrg = calcTrueBearingDeg(_stn_brg, _parent_hdg);
+ // _stn_relbrg = _stn_brg;
+ // //cout << _name <<" set rel"<<endl;
+ //} else {
+ // _stn_truebrg = _stn_brg;
+ // _stn_relbrg = calcRelBearingDeg(_stn_brg, _parent_hdg);
+ // //cout << _name << " set true"<<endl;
+ //}
+
+ //double course2;
+
+ //SGGeodesy::direct( _selectedpos, _stn_truebrg, _stn_range * SG_NM_TO_METER,
+ // _tgtpos, course2);
+
+ //_tgtpos.setElevationFt(_stn_height);
+
+ //calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
+ // _tgtpos.getLatitudeDeg(), _tgtpos.getLongitudeDeg(), _tgtrange, _tgtbrg);
+
+ //_relbrg = calcRelBearingDeg(_tgtbrg, hdg);
+
+ } else {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIEscort: " << _name
+ << " parent not found: dying ");
+ setDie(true);
+ }
+
+}
+
+void FGAIEscort::setParent()
+{
+ double lat = _selected_ac->getDoubleValue("position/latitude-deg");
+ double lon = _selected_ac->getDoubleValue("position/longitude-deg");
+ double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
+ _MPControl = _selected_ac->getBoolValue("controls/mp-control");
+
+ _selectedpos.setLatitudeDeg(lat);
+ _selectedpos.setLongitudeDeg(lon);
+ _selectedpos.setElevationFt(elevation);
+
+ _parent_speed = _selected_ac->getDoubleValue("velocities/speed-kts");
+ _parent_hdg = _selected_ac->getDoubleValue("orientation/true-heading-deg");
+
+ if(!_stn_deg_true){
+ _stn_truebrg = calcTrueBearingDeg(_stn_brg, _parent_hdg);
+ _stn_relbrg = _stn_brg;
+ //cout << _name <<" set rel"<<endl;
+ } else {
+ _stn_truebrg = _stn_brg;
+ _stn_relbrg = calcRelBearingDeg(_stn_brg, _parent_hdg);
+ //cout << _name << " set true"<<endl;
+ }
+
+ double course2;
+
+ SGGeodesy::direct( _selectedpos, _stn_truebrg, _stn_range * SG_NM_TO_METER,
+ _tgtpos, course2);
+
+ _tgtpos.setElevationFt(_stn_height);
+
+ calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
+ _tgtpos.getLatitudeDeg(), _tgtpos.getLongitudeDeg(), _tgtrange, _tgtbrg);
+
+ _relbrg = calcRelBearingDeg(_tgtbrg, hdg);
+
+}
+
+void FGAIEscort::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 FGAIEscort::calcRelBearingDeg(double bearing, double heading)
+{
+ double angle = bearing - heading;
+ SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
+ return angle;
+}
+
+double FGAIEscort::calcTrueBearingDeg(double bearing, double heading)
+{
+ double angle = bearing + heading;
+ SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
+ return angle;
+}
+
+double FGAIEscort::calcRecipBearingDeg(double bearing)
+{
+ double angle = bearing - 180;
+ SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
+ return angle;
+}
+
+SGVec3d FGAIEscort::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 FGAIEscort::setStationSpeed(){
+
+ double speed = 0;
+ double angle = 0;
+
+ // these are the AI rules for the manoeuvring of escorts
+
+ if (_MPControl && _tgtrange > 4 * _stn_limit){
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIEscort: " << _name
+ << " re-aligning to MP pos");
+ pos = _tgtpos;
+ speed = 0;
+ angle = 0;
+ }else if ((_relbrg < -90 || _relbrg > 90) && _tgtrange > _stn_limit ){
+ angle =_relbrg;
+
+ if(_tgtrange > 4 * _stn_limit)
+ speed = 4 * -_stn_speed;
+ else
+ speed = -_stn_speed;
+
+ }else if ((_relbrg >= -90 || _relbrg <= 90) && _tgtrange > _stn_limit){
+ angle = _relbrg;
+
+ if(_tgtrange > 4 * _stn_limit)
+ speed = 4 * _stn_speed;
+ else
+ speed = _stn_speed;
+
+ } else {
+
+ if(_patrol){
+ angle = 15 * sg_random();
+ speed = 5 * sg_random();
+ } else {
+ angle = 0;
+ speed = 0;
+ }
+
+ }
+
+ double station_speed = _parent_speed + speed;
+
+ SG_CLAMP_RANGE(station_speed, 5.0, _max_speed);
+ SG_CLAMP_RANGE(angle, -_stn_angle_limit, _stn_angle_limit);
+
+ AccelTo(station_speed);
+ TurnTo(_parent_hdg + angle);
+ ClimbTo(_stn_height);
+
+}
+
+void FGAIEscort::RunEscort(double dt){
+
+ _dt_count += dt;
+
+
+
+ ///////////////////////////////////////////////////////////////////////////
+ // Check execution time (currently once every 0.05 sec or 20 fps)
+ // Add a bit of randomization to prevent the execution of all flight plans
+ // in synchrony, which can add significant periodic framerate flutter.
+ // Randomization removed to get better appearance
+ ///////////////////////////////////////////////////////////////////////////
+
+ //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
+ if (_dt_count < _next_run)
+ return;
+ _next_run = _interval /*+ (0.015 * sg_random())*/;
+
+ if(_parent == ""){
+ return;
+ }
+
+ setParent();
+ setStationSpeed();
+ //getGroundElev(pos);
+
+ _dt_count = 0;
+
+}
+
+// end AIGroundvehicle
diff --git a/src/AIModel/AIEscort.hxx b/src/AIModel/AIEscort.hxx
index d5adff5d5..a2e0ab678 100644
--- a/src/AIModel/AIEscort.hxx
+++ b/src/AIModel/AIEscort.hxx
@@ -1,106 +1,107 @@
-// 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_AIESCORT_HXX
-#define _FG_AIESCORT_HXX
-
-#include <string>
-#include <list>
-
-#include <simgear/compiler.h>
-
-#include "AIBase.hxx"
-
-#include "AIShip.hxx"
-
-#include "AIManager.hxx"
-#include "AIBase.hxx"
-
-class FGAIEscort : public FGAIShip {
-public:
- FGAIEscort();
- virtual ~FGAIEscort();
-
- virtual void readFromScenario(SGPropertyNode* scFileNode);
- virtual void bind();
- virtual void unbind();
- virtual const char* getTypeString(void) const { return "escort"; }
-
- bool init(bool search_in_AI_path=false);
-
-private:
-
- virtual void reinit() { init(); }
- virtual void update (double dt);
-
- void setParentName(const std::string& p);
- void setParent();
- void setStnRange(double r);
- void setStnBrg(double y);
- void setStationSpeed();
- void setStnLimit(double l);
- void setStnAngleLimit(double l);
- void setStnSpeed(double s);
- void setStnHtFt(double h);
- void setStnPatrol(bool p);
- void setStnDegTrue(bool t);
-
- void setMaxSpeed(double m);
- void setUpdateInterval(double i);
-
- void RunEscort(double dt);
-
- bool getGroundElev(SGGeod inpos);
-
- 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);
- double calcTrueBearingDeg(double bearing, double heading);
- double calcRecipBearingDeg(double bearing);
-
- SGGeod _selectedpos;
- SGGeod _tgtpos;
-
- 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 _tgtrange, _tgtbrg;
- double _ht_agl_ft;
- double _relbrg, _truebrg;
- double _parent_speed, _parent_hdg;
- double _interval;
-
- double _stn_relbrg, _stn_truebrg, _stn_brg, _stn_range, _stn_height;
- double _stn_speed, _stn_angle_limit, _stn_limit;
-
- double _max_speed;
-
- const SGMaterial* _material;
- SGPropertyNode_ptr _selected_ac;
-
- bool _MPControl, _patrol, _stn_deg_true;
-
- std::string _parent;
-
-};
-
-#endif // FG_AIGROUNDVEHICLE_HXX
+// 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_AIESCORT_HXX
+#define _FG_AIESCORT_HXX
+
+#include <string>
+#include <list>
+
+#include <simgear/compiler.h>
+
+#include "AIBase.hxx"
+
+#include "AIShip.hxx"
+
+#include "AIManager.hxx"
+#include "AIBase.hxx"
+
+class FGAIEscort : public FGAIShip {
+public:
+ FGAIEscort();
+ virtual ~FGAIEscort();
+
+ virtual void readFromScenario(SGPropertyNode* scFileNode);
+ virtual void bind();
+ virtual void unbind();
+ virtual const char* getTypeString(void) const { return "escort"; }
+
+ bool init(bool search_in_AI_path=false);
+
+private:
+
+ virtual void reinit() { init(); }
+ virtual void update (double dt);
+
+ void setParentName(const std::string& p);
+ void setParentNode();
+ void setStnRange(double r);
+ void setStnBrg(double y);
+ void setStationSpeed();
+ void setStnLimit(double l);
+ void setStnAngleLimit(double l);
+ void setStnSpeed(double s);
+ void setStnHtFt(double h);
+ void setStnPatrol(bool p);
+ void setStnDegTrue(bool t);
+ void setParent();
+
+ void setMaxSpeed(double m);
+ void setUpdateInterval(double i);
+
+ void RunEscort(double dt);
+
+ bool getGroundElev(SGGeod inpos);
+
+ 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);
+ double calcTrueBearingDeg(double bearing, double heading);
+ double calcRecipBearingDeg(double bearing);
+
+ SGGeod _selectedpos;
+ SGGeod _tgtpos;
+
+ 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 _tgtrange, _tgtbrg;
+ double _ht_agl_ft;
+ double _relbrg, _truebrg;
+ double _parent_speed, _parent_hdg;
+ double _interval;
+
+ double _stn_relbrg, _stn_truebrg, _stn_brg, _stn_range, _stn_height;
+ double _stn_speed, _stn_angle_limit, _stn_limit;
+
+ double _max_speed;
+
+ const SGMaterial* _material;
+ SGPropertyNode_ptr _selected_ac;
+
+ bool _MPControl, _patrol, _stn_deg_true;
+
+ std::string _parent;
+
+};
+
+#endif // FG_AIGROUNDVEHICLE_HXX
diff --git a/src/AIModel/AIGroundVehicle.cxx b/src/AIModel/AIGroundVehicle.cxx
index e65ea5b7e..10ea47e59 100644
--- a/src/AIModel/AIGroundVehicle.cxx
+++ b/src/AIModel/AIGroundVehicle.cxx
@@ -61,9 +61,9 @@ void FGAIGroundVehicle::readFromScenario(SGPropertyNode* scFileNode) {
FGAIShip::readFromScenario(scFileNode);
- setNoRoll(scFileNode->getBoolValue("no-roll", true));
setName(scFileNode->getStringValue("name", "groundvehicle"));
- setSMPath(scFileNode->getStringValue("submodel-path", ""));
+ setParentName(scFileNode->getStringValue("parent", ""));
+ setNoRoll(scFileNode->getBoolValue("no-roll", true));
setContactX1offset(scFileNode->getDoubleValue("contact-x1-offset", 0.0));
setContactX2offset(scFileNode->getDoubleValue("contact-x2-offset", 0.0));
setXOffset(scFileNode->getDoubleValue("hitch-x-offset", 35.0));
@@ -74,7 +74,6 @@ void FGAIGroundVehicle::readFromScenario(SGPropertyNode* scFileNode) {
setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0));
setPitchCoeff(scFileNode->getDoubleValue("pitch-coefficient", 0.1));
setElevCoeff(scFileNode->getDoubleValue("elevation-coefficient", 0.25));
- setParentName(scFileNode->getStringValue("parent", ""));
setTowAngleGain(scFileNode->getDoubleValue("tow-angle-gain", 1.0));
setTowAngleLimit(scFileNode->getDoubleValue("tow-angle-limit-deg", 2.0));
setInitialTunnel(scFileNode->getBoolValue("tunnel", false));
@@ -125,7 +124,7 @@ void FGAIGroundVehicle::unbind() {
FGAIShip::unbind();
props->untie("controls/constants/elevation-coeff");
- props->untie("controls/constants/pitch-coeff");
+ props->untie("controls/constants/pitch-coeff");
props->untie("position/ht-AGL-ft");
props->untie("hitch/rel-bearing-deg");
props->untie("hitch/tow-angle-deg");
@@ -149,6 +148,9 @@ bool FGAIGroundVehicle::init(bool search_in_AI_path) {
invisible = false;
_limit = 200;
no_roll = true;
+
+ props->setStringValue("controls/parent-name", _parent.c_str());
+ setParentNode();
return true;
}
@@ -342,12 +344,15 @@ bool FGAIGroundVehicle::getPitch() {
}
- getGroundElev(pos);
+ //getGroundElev(pos);
return true;
}
-void FGAIGroundVehicle::setParent() {
+void FGAIGroundVehicle::setParentNode() {
+
+ if(_parent == "")
+ return;
const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
@@ -377,40 +382,16 @@ void FGAIGroundVehicle::setParent() {
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_x_offset_m = _selected_ac->getDoubleValue("hitch/x-offset-ft")
- * SG_FEET_TO_METER;
- double hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
- * SG_FEET_TO_METER;
- double hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
- * SG_FEET_TO_METER;
-
- _selectedpos.setLatitudeDeg(lat);
- _selectedpos.setLongitudeDeg(lon);
- _selectedpos.setElevationFt(elevation);
-
_parent_x_offset = _selected_ac->getDoubleValue("hitch/x-offset-ft");
_parent_y_offset = _selected_ac->getDoubleValue("hitch/y-offset-ft");
_parent_z_offset = _selected_ac->getDoubleValue("hitch/z-offset-ft");
-
- _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
-
- SGVec3d rear_hitch(-hitch_x_offset_m, hitch_y_offset_m, 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);
+ _hitch_x_offset_m = _selected_ac->getDoubleValue("hitch/x-offset-ft")
+ * SG_FEET_TO_METER;
+ _hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
+ * SG_FEET_TO_METER;
+ _hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
+ * SG_FEET_TO_METER;
+ setParent();
} else {
SG_LOG(SG_GENERAL, SG_ALERT, "AIGroundVeh1cle: " << _name
<< " parent not found: dying ");
@@ -419,6 +400,34 @@ void FGAIGroundVehicle::setParent() {
}
+void FGAIGroundVehicle::setParent(){
+
+ double lat = _selected_ac->getDoubleValue("position/latitude-deg");
+ double lon = _selected_ac->getDoubleValue("position/longitude-deg");
+ double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
+
+ _selectedpos.setLatitudeDeg(lat);
+ _selectedpos.setLongitudeDeg(lon);
+ _selectedpos.setElevationFt(elevation);
+
+ _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
+
+ SGVec3d rear_hitch(-_hitch_x_offset_m, _hitch_y_offset_m, 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);
+}
+
void FGAIGroundVehicle::calcRangeBearing(double lat, double lon, double lat2, double lon2,
double &range, double &bearing) const
{
diff --git a/src/AIModel/AIGroundVehicle.hxx b/src/AIModel/AIGroundVehicle.hxx
index 721ebf303..8547e67d0 100644
--- a/src/AIModel/AIGroundVehicle.hxx
+++ b/src/AIModel/AIGroundVehicle.hxx
@@ -1,105 +1,107 @@
-// 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 setYOffset(double y);
- void setZOffset(double z);
-
- 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();
- void RunGroundVehicle(double dt);
-
- 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, _y_offset;
- double _range_ft;
- double _relbrg;
- double _parent_speed, _parent_x_offset, _parent_y_offset, _parent_z_offset;
- double _dt_count, _next_run, _break_count;
-
- const SGMaterial* _material;
- SGPropertyNode_ptr _selected_ac;
-
- string _parent;
-
-};
-
-#endif // FG_AIGROUNDVEHICLE_HXX
+// 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 setYOffset(double y);
+ void setZOffset(double z);
+
+ 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 setParentNode();
+ void AdvanceFP();
+ void setTowSpeed();
+ void RunGroundVehicle(double dt);
+
+ 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, _y_offset;
+ double _range_ft;
+ double _relbrg;
+ double _parent_speed, _parent_x_offset, _parent_y_offset, _parent_z_offset;
+ double _hitch_x_offset_m, _hitch_y_offset_m, _hitch_z_offset_m;
+ double _dt_count, _next_run, _break_count;
+
+ const SGMaterial* _material;
+ SGPropertyNode_ptr _selected_ac;
+
+ string _parent;
+
+};
+
+#endif // FG_AIGROUNDVEHICLE_HXX
diff --git a/src/AIModel/AIShip.cxx b/src/AIModel/AIShip.cxx
index 41f09550e..b27b21d96 100644
--- a/src/AIModel/AIShip.cxx
+++ b/src/AIModel/AIShip.cxx
@@ -99,6 +99,7 @@ void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
setRudderConstant(scFileNode->getDoubleValue("rudder-constant", 0.5));
setFixedTurnRadius(scFileNode->getDoubleValue("fixed-turn-radius-ft", 500));
setSpeedConstant(scFileNode->getDoubleValue("speed-constant", 0.5));
+ setSMPath(scFileNode->getStringValue("submodel-path", ""));
if (!flightplan.empty()) {
SG_LOG(SG_GENERAL, SG_ALERT, "getting flightplan: " << _name );
@@ -250,12 +251,12 @@ void FGAIShip::update(double dt) {
// Update the velocity information stored in those nodes.
// Transform that one to the horizontal local coordinate system.
SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
- // The orientation of the carrier wrt the horizontal local frame
+ // The orientation of the ship wrt the horizontal local frame
SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// and postrotate the orientation of the AIModel wrt the horizontal
// local frame
SGQuatd ec2body = ec2hl*hl2body;
- // The cartesian position of the carrier in the wgs84 world
+ // The cartesian position of the ship in the wgs84 world
SGVec3d cartPos = SGVec3d::fromGeod(pos);
// The simulation time this transform is meant for
@@ -680,7 +681,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
if (_next_name == "TUNNEL"){
_tunnel = !_tunnel;
- SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " " << sp_turn_radius_nm );
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " " << sp_turn_radius_nm );
fp->IncrementWaypoint(false);
next = fp->getNextWaypoint();
@@ -697,7 +698,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
}else if(_next_name == "END" || fp->getNextWaypoint() == 0) {
if (_repeat) {
- SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << " Flightplan repeating ");
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: "<< _name << " Flightplan repeating ");
fp->restart();
prev = curr;
curr = fp->getCurrentWaypoint();
@@ -711,7 +712,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
_lead_angle = 0;
AccelTo(prev->speed);
} else if (_restart){
- SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan restarting ");
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " Flightplan restarting ");
_missed_count = 0;
initFlightPlan();
} else {
@@ -755,7 +756,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
_until_time = next->time;
setUntilTime(next->time);
if (until_time_sec > time_sec) {
- SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " "
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " "
<< curr->name << " waiting until: "
<< _until_time << " " << until_time_sec << " now " << time_sec );
setSpeed(0);
@@ -763,7 +764,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
_waiting = true;
return;
} else {
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: "
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: "
<< _name << " wait until done: getting new waypoints ");
setUntilTime("");
fp->IncrementWaypoint(false);
diff --git a/src/AIModel/AIWingman.cxx b/src/AIModel/AIWingman.cxx
index 39c20bbc6..2bc8e2c0f 100644
--- a/src/AIModel/AIWingman.cxx
+++ b/src/AIModel/AIWingman.cxx
@@ -75,6 +75,11 @@ void FGAIWingman::bind() {
&FGAIBase::_getLongitude,
&FGAIBase::_setLongitude));
+ props->tie("controls/formate-to-ac",
+ SGRawValueMethods<FGAIBallistic,bool>
+ (*this, &FGAIBallistic::getFormate, &FGAIBallistic::setFormate));
+
+
props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
@@ -122,6 +127,8 @@ void FGAIWingman::unbind() {
props->untie("orientation/roll-deg");
props->untie("orientation/true-heading-deg");
+ props->untie("controls/formate-to-ac");
+
props->untie("submodels/serviceable");
props->untie("velocities/true-airspeed-kt");