Add support for high speed trains. Change update rate to main frame rate, and move framerate-heavy functions to a 20Hz update cycle. Jitter is much reduced, at a small cost to framerate
Signed-off-by: v meazza <vivian.meazza@lineone.net> Conflicts: src/AIModel/AIGroundVehicle.cxx
This commit is contained in:
Tim Moore
parent
d974954b5a
commit
d096455b7f
4 changed files with 121 additions and 63 deletions
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@ -45,7 +45,9 @@ _dt_count(0),
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_next_run(0),
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_parent_x_offset(0),
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_parent_y_offset(0),
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_parent("")
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_parent_z_offset(0),
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_parent(""),
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_break_count(0)
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{
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invisible = false;
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@ -64,16 +66,18 @@ void FGAIGroundVehicle::readFromScenario(SGPropertyNode* scFileNode) {
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setSMPath(scFileNode->getStringValue("submodel-path", ""));
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setContactX1offset(scFileNode->getDoubleValue("contact-x1-offset", 0.0));
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setContactX2offset(scFileNode->getDoubleValue("contact-x2-offset", 0.0));
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setXOffset(scFileNode->getDoubleValue("hitch-x-offset", 38.55));
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setXOffset(scFileNode->getDoubleValue("hitch-x-offset", 35.0));
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setYOffset(scFileNode->getDoubleValue("hitch-y-offset", 0.0));
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setZOffset(scFileNode->getDoubleValue("hitch-z-offset", 0.0));
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setPitchoffset(scFileNode->getDoubleValue("pitch-offset", 0.0));
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setRolloffset(scFileNode->getDoubleValue("roll-offset", 0.0));
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setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0));
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setPitchCoeff(scFileNode->getDoubleValue("pitch-coefficient", 0.1));
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setElevCoeff(scFileNode->getDoubleValue("elevation-coefficient", 0.25));
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setParentName(scFileNode->getStringValue("parent", ""));
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setTowAngleGain(scFileNode->getDoubleValue("tow-angle-gain", 2.0));
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setTowAngleGain(scFileNode->getDoubleValue("tow-angle-gain", 1.0));
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setTowAngleLimit(scFileNode->getDoubleValue("tow-angle-limit-deg", 2.0));
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setInitialTunnel(scFileNode->getBoolValue("tunnel", false));
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//we may need these later for towed vehicles
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// setSubID(scFileNode->getIntValue("SubID", 0));
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// setGroundOffset(scFileNode->getDoubleValue("ground-offset", 0.0));
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@ -99,10 +103,14 @@ void FGAIGroundVehicle::bind() {
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SGRawValuePointer<double>(&_x_offset));
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props->tie("hitch/y-offset-ft",
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SGRawValuePointer<double>(&_y_offset));
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props->tie("hitch/z-offset-ft",
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SGRawValuePointer<double>(&_z_offset));
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props->tie("hitch/parent-x-offset-ft",
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SGRawValuePointer<double>(&_parent_x_offset));
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props->tie("hitch/parent-y-offset-ft",
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SGRawValuePointer<double>(&_parent_y_offset));
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props->tie("hitch/parent-z-offset-ft",
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SGRawValuePointer<double>(&_parent_z_offset));
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props->tie("controls/constants/tow-angle/gain",
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SGRawValuePointer<double>(&_tow_angle_gain));
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props->tie("controls/constants/tow-angle/limit-deg",
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@ -117,15 +125,17 @@ void FGAIGroundVehicle::unbind() {
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FGAIShip::unbind();
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props->untie("controls/constants/elevation-coeff");
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props->untie("controls/constants/pitch-coeff");
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props->untie("position/ht-AGL-ft");
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props->untie("controls/constants/pitch-coeff");
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props->untie("hitch/rel-bearing-deg");
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props->untie("hitch/tow-angle-deg");
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props->untie("hitch/range-ft");
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props->untie("hitch/x-offset-ft");
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props->untie("hitch/y-offset-ft");
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props->untie("hitch/z-offset-ft");
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props->untie("hitch/parent-x-offset-ft");
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props->untie("hitch/parent-y-offset-ft");
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props->untie("hitch/parent-y-offset-ft");
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props->untie("controls/constants/tow-angle/gain");
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props->untie("controls/constants/tow-angle/limit-deg");
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props->untie("controls/contact-x1-offset-ft");
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@ -145,9 +155,9 @@ bool FGAIGroundVehicle::init(bool search_in_AI_path) {
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void FGAIGroundVehicle::update(double dt) {
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// SG_LOG(SG_GENERAL, SG_ALERT, "updating GroundVehicle: " << _name );
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FGAIShip::update(dt);
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RunGroundVehicle(dt);
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// FGAIShip::update(dt);
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}
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void FGAIGroundVehicle::setNoRoll(bool nr) {
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@ -170,6 +180,10 @@ void FGAIGroundVehicle::setYOffset(double y) {
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_y_offset = y;
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}
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void FGAIGroundVehicle::setZOffset(double z) {
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_z_offset = z;
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}
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void FGAIGroundVehicle::setPitchCoeff(double pc) {
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_pitch_coeff = pc;
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}
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@ -201,9 +215,12 @@ void FGAIGroundVehicle::setParentName(const string& p) {
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}
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void FGAIGroundVehicle::setTowAngle(double ta, double dt, double coeff){
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//_tow_angle = ta * _tow_angle_gain;
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_tow_angle = pow(ta,2) * sign(ta);
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SG_CLAMP_RANGE(_tow_angle, -_tow_angle_limit, _tow_angle_limit);
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ta *= _tow_angle_gain;
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double factor = -0.0045 * speed + 1;
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double limit = _tow_angle_limit * factor;
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// cout << "speed "<< speed << " _factor " << _factor<<" " <<_tow_angle_limit<< endl;
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_tow_angle = pow(ta,2) * sign(ta) * factor;
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SG_CLAMP_RANGE(_tow_angle, -limit, limit);
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}
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bool FGAIGroundVehicle::getGroundElev(SGGeod inpos) {
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@ -242,10 +259,10 @@ bool FGAIGroundVehicle::getGroundElev(SGGeod inpos) {
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bool FGAIGroundVehicle::getPitch() {
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if (!_tunnel){
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double vel = props->getDoubleValue("velocities/true-airspeed-kt", 0);
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double contact_offset_x1_m = _contact_x1_offset * SG_FEET_TO_METER;
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double contact_offset_x2_m = _contact_x2_offset * SG_FEET_TO_METER;
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double _z_offset_m = _parent_z_offset * SG_FEET_TO_METER;
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SGVec3d front(-contact_offset_x1_m, 0, 0);
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SGVec3d rear(-contact_offset_x2_m, 0, 0);
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@ -261,9 +278,9 @@ bool FGAIGroundVehicle::getPitch() {
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double elev_rear = 0;
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double max_alt = 10000;
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if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodFront, 3000), elev_front,
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&_material, 0)){
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front_elev_m = elev_front;
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if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodFront, 3000),
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elev_front, &_material, 0)){
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front_elev_m = elev_front + _z_offset_m;
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} else
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return false;
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@ -297,26 +314,26 @@ bool FGAIGroundVehicle::getPitch() {
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if (_new_waypoint){
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//cout << "new waypoint, calculating pitch " << endl;
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curr_alt = curr->altitude * SG_METER_TO_FEET;
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prev_alt = prev->altitude * SG_METER_TO_FEET;
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d_alt = curr_alt - prev_alt;
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curr_alt = curr->altitude;
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prev_alt = prev->altitude;
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cout << "prev_alt" <<prev_alt << endl;
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d_alt = (curr_alt - prev_alt) * SG_METER_TO_FEET;
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//_elevation = prev->altitude;
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distance = SGGeodesy::distanceM(SGGeod::fromDeg(prev->longitude, prev->latitude),
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SGGeod::fromDeg(curr->longitude, curr->latitude));
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_pitch = atan2(d_alt, distance * SG_METER_TO_FEET) * SG_RADIANS_TO_DEGREES;
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// cout << "new waypoint, calculating pitch " << _pitch << endl;
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//cout << "new waypoint, calculating pitch " << _pitch <<
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// " " << _pitch_offset << " " << _elevation <<endl;
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}
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double distance_to_go = SGGeodesy::distanceM(SGGeod::fromDeg(pos.getLongitudeDeg(), pos.getLatitudeDeg()),
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SGGeod::fromDeg(curr->longitude, curr->latitude));
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//cout << "tunnel " << _tunnel
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// << " distance curr & prev " << prev->name << " " << curr->name << " " << distance * SG_METER_TO_FEET
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// << " distance to go " << distance_to_go * SG_METER_TO_FEET
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// << " d_alt ft " << d_alt
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// << endl;
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/*cout << "tunnel " << _tunnel
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<< " distance prev & curr " << prev->name << " " << curr->name << " " << distance * SG_METER_TO_FEET
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<< " distance to go " << distance_to_go * SG_METER_TO_FEET
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<< " d_alt ft " << d_alt
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<< endl;*/
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if (distance_to_go > distance)
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_elevation = prev_alt;
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@ -367,13 +384,17 @@ void FGAIGroundVehicle::setParent() {
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* SG_FEET_TO_METER;
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double hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
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* SG_FEET_TO_METER;
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double hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
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* SG_FEET_TO_METER;
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_selectedpos.setLatitudeDeg(lat);
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_selectedpos.setLongitudeDeg(lon);
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_selectedpos.setElevationFt(elevation);
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_parent_x_offset = _selected_ac->getDoubleValue("hitch/x-offset-ft");
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_parent_y_offset = _selected_ac->getDoubleValue("hitch/y-offset-ft");
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_parent_z_offset = _selected_ac->getDoubleValue("hitch/z-offset-ft");
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_parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
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SGVec3d rear_hitch(-hitch_x_offset_m, hitch_y_offset_m, 0);
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@ -534,7 +555,7 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){
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if (_dt_count < _next_run)
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return;
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_next_run = 0.055 /*+ (0.015 * sg_random())*/;
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_next_run = 0.05 /*+ (0.015 * sg_random())*/;
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if (getPitch()){
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setElevation(_elevation, _dt_count, _elevation_coeff);
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@ -545,7 +566,6 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){
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if(_parent == ""){
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AccelTo(prev->speed);
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FGAIShip::update(_dt_count);
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_dt_count = 0;
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return;
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}
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@ -554,12 +574,15 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){
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string parent_next_name = _selected_ac->getStringValue("waypoint/name-next");
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bool parent_waiting = _selected_ac->getBoolValue("waypoint/waiting");
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bool parent_restart = _selected_ac->getBoolValue("controls/restart");
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if (parent_next_name == "END" && fp->getNextWaypoint()->name != "END" ){
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SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
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<< " setting END: getting new waypoints ");
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AdvanceFP();
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setWPNames();
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setTunnel(_initial_tunnel);
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if(_restart) _missed_count = 200;
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/*} else if (parent_next_name == "WAIT" && fp->getNextWaypoint()->name != "WAIT" ){*/
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} else if (parent_waiting && !_waiting){
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SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
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@ -585,12 +608,14 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){
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}
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setWPNames();
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} else if (_range_ft > _parent_x_offset * 4){
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SG_LOG(SG_GENERAL, SG_INFO, "AIGroundVeh1cle: " << _name
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<< " rescue: reforming train " << _range_ft << " " << _x_offset * 15);
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} else if (_range_ft > (_x_offset +_parent_x_offset)* 4
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){
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SG_LOG(SG_GENERAL, SG_ALERT, "AIGroundVeh1cle: " << _name
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<< " rescue: reforming train " << _range_ft
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);
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setTowAngle(0, dt, 1);
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setSpeed(_parent_speed * 2);
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setSpeed(_parent_speed + (10 * sign(_parent_speed)));
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} else if (_parent_speed > 1){
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@ -609,7 +634,7 @@ void FGAIGroundVehicle::RunGroundVehicle(double dt){
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} else
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setSpeed(_parent_speed);
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FGAIShip::update(_dt_count);
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// FGAIShip::update(_dt_count);
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_dt_count = 0;
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}
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@ -53,6 +53,7 @@ private:
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void setContactX2offset(double x2);
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void setXOffset(double x);
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void setYOffset(double y);
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void setZOffset(double z);
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void setPitchCoeff(double pc);
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void setElevCoeff(double ec);
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@ -91,8 +92,8 @@ private:
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double _x_offset, _y_offset;
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double _range_ft;
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double _relbrg;
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double _parent_speed, _parent_x_offset, _parent_y_offset;
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double _dt_count, _next_run;
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double _parent_speed, _parent_x_offset, _parent_y_offset, _parent_z_offset;
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double _dt_count, _next_run, _break_count;
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const SGMaterial* _material;
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const SGPropertyNode *_selected_ac;
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@ -68,7 +68,8 @@ _old_range(0),
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_range_rate(0),
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_roll_constant(0.001),
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_hdg_constant(0.01),
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_roll_factor(-0.0083335)
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_roll_factor(-0.0083335),
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_restart(false)
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{
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invisible = false;
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@ -89,6 +90,7 @@ void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
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setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
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std::string flightplan = scFileNode->getStringValue("flightplan");
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setRepeat(scFileNode->getBoolValue("repeat", false));
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setRestart(scFileNode->getBoolValue("restart", false));
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setStartTime(scFileNode->getStringValue("time", ""));
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setLeadAngleGain(scFileNode->getDoubleValue("lead-angle-gain", 1.5));
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setLeadAngleLimit(scFileNode->getDoubleValue("lead-angle-limit-deg", 15));
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@ -196,6 +198,8 @@ void FGAIShip::bind() {
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SGRawValuePointer<double>(&_proportion));
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props->tie("controls/fixed-turn-radius-ft",
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SGRawValuePointer<double>(&_fixed_turn_radius));
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props->tie("controls/restart",
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SGRawValuePointer<bool>(&_restart));
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}
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void FGAIShip::unbind() {
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@ -231,6 +235,7 @@ void FGAIShip::unbind() {
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props->untie("controls/constants/lead-angle/proportion");
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props->untie("controls/fixed-turn-radius-ft");
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props->untie("controls/constants/speed");
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props->untie("controls/restart");
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}
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void FGAIShip::update(double dt) {
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@ -332,17 +337,26 @@ void FGAIShip::Run(double dt) {
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//we assume that at slow speed ships will manoeuvre using engines/bow thruster
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if (fabs(speed)<=5)
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_sp_turn_radius_ft = _fixed_turn_radius;
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else {
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// adjust turn radius for speed. The equation is very approximate.
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// we need to allow for negative speeds
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if (type == "ship")
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_sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
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else
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_sp_turn_radius_ft = turn_radius_ft;
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if(type == "ship" || type == "carrier"){
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if (fabs(speed)<=5)
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_sp_turn_radius_ft = _fixed_turn_radius;
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else {
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// adjust turn radius for speed. The equation is very approximate.
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// we need to allow for negative speeds
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_sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
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}
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} else {
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if (fabs(speed) <= 40)
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_sp_turn_radius_ft = _fixed_turn_radius;
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else {
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// adjust turn radius for speed.
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_sp_turn_radius_ft = turn_radius_ft;
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}
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}
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}
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if (_rudder <= -0.25 || _rudder >= 0.25) {
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// adjust turn radius for _rudder angle. The equation is even more approximate.
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@ -404,7 +418,7 @@ void FGAIShip::Run(double dt) {
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}
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// set the _rudder limit by speed
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if (type == "ship"){
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if (type == "ship" || type == "carrier"){
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if (speed <= 40)
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rudder_limit = (-0.825 * speed) + 35;
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@ -456,13 +470,6 @@ void FGAIShip::ClimbTo(double altitude) {
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}
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void FGAIShip::TurnTo(double heading) {
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//double relbrg_corr = _relbrg;
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//if ( relbrg_corr > 5)
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// relbrg_corr = 5;
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//else if( relbrg_corr < -5)
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// relbrg_corr = -5;
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tgt_heading = heading - _lead_angle + _tow_angle;
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SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
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_hdg_lock = true;
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@ -511,6 +518,10 @@ void FGAIShip::setRepeat(bool r) {
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_repeat = r;
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}
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void FGAIShip::setRestart(bool r) {
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_restart = r;
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}
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void FGAIShip::setMissed(bool m) {
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_missed = m;
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props->setBoolValue("waypoint/missed", _missed);
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@ -548,6 +559,15 @@ void FGAIShip::setFixedTurnRadius(double ftr) {
|
|||
_fixed_turn_radius = ftr;
|
||||
}
|
||||
|
||||
void FGAIShip::setInitialTunnel(bool t) {
|
||||
_initial_tunnel = t;
|
||||
setTunnel(_initial_tunnel);
|
||||
}
|
||||
|
||||
void FGAIShip::setTunnel(bool t) {
|
||||
_tunnel = t;
|
||||
}
|
||||
|
||||
void FGAIShip::setWPNames() {
|
||||
|
||||
if (prev != 0)
|
||||
|
|
@ -614,7 +634,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
|
|||
if (_dt_count < _next_run && _start_sec < time_sec)
|
||||
return;
|
||||
|
||||
_next_run = 1.0 + (0.5 * sg_random());
|
||||
_next_run = 0.05 + (0.025 * sg_random());
|
||||
|
||||
double until_time_sec = 0;
|
||||
_missed = false;
|
||||
|
|
@ -657,7 +677,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
|
|||
if (_next_name == "TUNNEL"){
|
||||
_tunnel = !_tunnel;
|
||||
|
||||
//SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " TUNNEL ");
|
||||
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " " << sp_turn_radius_nm );
|
||||
|
||||
fp->IncrementWaypoint(false);
|
||||
next = fp->getNextWaypoint();
|
||||
|
|
@ -674,7 +694,7 @@ void FGAIShip::ProcessFlightPlan(double dt) {
|
|||
}else if(_next_name == "END" || fp->getNextWaypoint() == 0) {
|
||||
|
||||
if (_repeat) {
|
||||
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << "Flightplan restarting ");
|
||||
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << " Flightplan repeating ");
|
||||
fp->restart();
|
||||
prev = curr;
|
||||
curr = fp->getCurrentWaypoint();
|
||||
|
|
@ -687,6 +707,10 @@ void FGAIShip::ProcessFlightPlan(double dt) {
|
|||
_missed_count = 0;
|
||||
_lead_angle = 0;
|
||||
AccelTo(prev->speed);
|
||||
} else if (_restart){
|
||||
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan restarting ");
|
||||
_missed_count = 0;
|
||||
initFlightPlan();
|
||||
} else {
|
||||
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan dying ");
|
||||
setDie(true);
|
||||
|
|
@ -802,6 +826,7 @@ bool FGAIShip::initFlightPlan() {
|
|||
|
||||
bool init = false;
|
||||
_start_sec = 0;
|
||||
_tunnel = _initial_tunnel;
|
||||
|
||||
fp->restart();
|
||||
fp->IncrementWaypoint(false);
|
||||
|
|
@ -859,7 +884,7 @@ bool FGAIShip::initFlightPlan() {
|
|||
_missed_count = 0;
|
||||
_new_waypoint = true;
|
||||
|
||||
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints ");
|
||||
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel);
|
||||
if (prev)
|
||||
init = true;
|
||||
|
||||
|
|
@ -1068,15 +1093,17 @@ void FGAIShip::setXTrackError() {
|
|||
double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
|
||||
curr->latitude, curr->longitude);
|
||||
double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range;
|
||||
double factor = -0.0045 * speed + 1;
|
||||
double limit = _lead_angle_limit * factor;
|
||||
|
||||
if (_wp_range > 0){
|
||||
_lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
|
||||
} else
|
||||
_lead_angle = 0;
|
||||
|
||||
_lead_angle *= _lead_angle_gain;
|
||||
_lead_angle *= _lead_angle_gain * factor;
|
||||
_xtrack_error = xtrack_error_nm * 6076.1155;
|
||||
|
||||
SG_CLAMP_RANGE(_lead_angle, -_lead_angle_limit, _lead_angle_limit);
|
||||
SG_CLAMP_RANGE(_lead_angle, -limit, limit);
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -61,6 +61,9 @@ public:
|
|||
void setRudderConstant(double rc);
|
||||
void setSpeedConstant(double sc);
|
||||
void setFixedTurnRadius(double ft);
|
||||
void setTunnel(bool t);
|
||||
void setInitialTunnel(bool t);
|
||||
|
||||
void setWPNames();
|
||||
void setWPPos();
|
||||
double sign(double x);
|
||||
|
|
@ -69,13 +72,13 @@ public:
|
|||
bool _serviceable;
|
||||
bool _waiting;
|
||||
bool _new_waypoint;
|
||||
bool _tunnel;
|
||||
|
||||
bool _tunnel, _initial_tunnel;
|
||||
bool _restart;
|
||||
|
||||
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, _wp_range;
|
||||
double _missed_range, _tow_angle, _wait_count, _missed_count,_wp_range;
|
||||
|
||||
FGAIFlightPlan::waypoint* prev; // the one behind you
|
||||
FGAIFlightPlan::waypoint* curr; // the one ahead
|
||||
|
|
@ -92,6 +95,7 @@ private:
|
|||
virtual void reinit() { init(); }
|
||||
|
||||
void setRepeat(bool r);
|
||||
void setRestart(bool r);
|
||||
void setMissed(bool m);
|
||||
|
||||
void setServiceable(bool s);
|
||||
|
|
@ -119,7 +123,7 @@ private:
|
|||
double _roll_constant, _roll_factor;
|
||||
double _sp_turn_radius_ft, _rd_turn_radius_ft, _fixed_turn_radius;
|
||||
double _old_range, _range_rate;
|
||||
double _dt_count, _missed_count;
|
||||
double _dt_count;
|
||||
double _next_run;
|
||||
double _missed_time_sec;
|
||||
double _start_sec;
|
||||
|
|
@ -137,6 +141,7 @@ private:
|
|||
bool _repeat;
|
||||
bool _fp_init;
|
||||
bool _missed;
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue