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AICarrier fixes from Vivian

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This commit is contained in:
Tim Moore 2009-05-04 16:16:00 +02:00
parent 2eebd94dac
commit f528fc7154
3 changed files with 97 additions and 29 deletions
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95
src/AIModel/AICarrier.cxx
View file

@ -194,6 +194,7 @@ void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) {
setMinLat(scFileNode->getDoubleValue("min-lat", 0));
setMaxLong(scFileNode->getDoubleValue("max-long", 0));
setMinLong(scFileNode->getDoubleValue("min-long", 0));
setMPControl(scFileNode->getBoolValue("mp-control", false));
SGPropertyNode* flols = scFileNode->getChild("flols-pos");
if (flols) {
@ -268,20 +269,34 @@ void FGAICarrier::setTACANChannelID(const string& id) {
TACAN_channel_id = id;
}
void FGAICarrier::setMPControl(bool c) {
MPControl = c;
}
void FGAICarrier::update(double dt) {
// Now update the position and heading. This will compute new hdg and
// roll values required for the rotation speed computation.
FGAIShip::update(dt);
//automatic turn into wind with a target wind of 25 kts otd
//SG_LOG(SG_GENERAL, SG_ALERT, "AICarrier: MPControl " << MPControl );
if (!MPControl){
if(turn_to_launch_hdg){
TurnToLaunch();
} else if(OutsideBox() || returning) {// check that the carrier is inside the operating box
ReturnToBox();
} else if(turn_to_recovery_hdg ){
TurnToRecover();
} else if(OutsideBox() || returning ) {// check that the carrier is inside
ReturnToBox(); // the operating box,
} else {
TurnToBase();
}
} else {
FGAIShip::TurnTo(tgt_heading);
FGAIShip::AccelTo(tgt_speed);
}
UpdateWind(dt);
UpdateElevator(dt, transition_time);
UpdateJBD(dt, jbd_transition_time);
@ -352,7 +367,10 @@ bool FGAICarrier::init(bool search_in_AI_path) {
turn_to_launch_hdg = false;
turn_to_recovery_hdg = false;
turn_to_base_course = true;
returning = false;
in_to_wind = false;
mOpBoxPos = pos;
base_course = hdg;
@ -402,6 +420,8 @@ void FGAICarrier::bind() {
SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLatitudeDeg));
props->tie("controls/start-pos-long-deg",
SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLongitudeDeg));
props->tie("controls/mp-control",
SGRawValuePointer<bool>(&MPControl));
props->tie("velocities/speed-kts",
SGRawValuePointer<double>(&speed));
props->tie("environment/surface-wind-speed-true-kts",
@ -414,24 +434,31 @@ void FGAICarrier::bind() {
SGRawValuePointer<double>(&rel_wind));
props->tie("environment/rel-wind-speed-kts",
SGRawValuePointer<double>(&rel_wind_speed_kts));
props->tie("environment/in-to-wind",
SGRawValuePointer<bool>(&in_to_wind));
props->tie("controls/flols/wave-off-lights",
SGRawValuePointer<bool>(&wave_off_lights));
props->tie("controls/elevators",
SGRawValuePointer<bool>(&elevators));
props->tie("surface-positions/elevators-pos-norm",
SGRawValuePointer<double>(&pos_norm));
props->tie("controls/elevators-trans-time-s",
props->tie("controls/constants/elevators/trans-time-s",
SGRawValuePointer<double>(&transition_time));
props->tie("controls/elevators-time-constant",
props->tie("controls/constants/elevators/time-constant",
SGRawValuePointer<double>(&time_constant));
props->tie("controls/jbd",
SGRawValuePointer<bool>(&jbd));
props->tie("surface-positions/jbd-pos-norm",
SGRawValuePointer<double>(&jbd_pos_norm));
props->tie("controls/jbd-trans-time-s",
props->tie("controls/constants/jbd/trans-time-s",
SGRawValuePointer<double>(&jbd_transition_time));
props->tie("controls/jbd-time-constant",
props->tie("controls/constants/jbd/time-constant",
SGRawValuePointer<double>(&jbd_time_constant));
props->tie("controls/turn-to-recovery-hdg",
SGRawValuePointer<bool>(&turn_to_recovery_hdg));
props->tie("controls/turn-to-base-course",
SGRawValuePointer<bool>(&turn_to_base_course));
props->setBoolValue("controls/flols/cut-lights", false);
props->setBoolValue("controls/flols/wave-off-lights", false);
@ -457,16 +484,19 @@ void FGAICarrier::unbind() {
props->untie("environment/wind-from-true-degs");
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/elevators");
props->untie("surface-positions/elevators-pos-norm");
props->untie("controls/elevators-trans-time-secs");
props->untie("controls/elevators-time-constant");
props->untie("controls/constants/elevators/trans-time-secs");
props->untie("controls/constants/elevators/time-constant");
props->untie("controls/jbd");
props->untie("surface-positions/jbd-pos-norm");
props->untie("controls/jbd-trans-time-s");
props->untie("surface-positions/jbd/pos-norm");
props->untie("controls/constants/jbd/trans-time-s");
props->untie("controls/jbd-time-constant");
props->untie("controls/mp-control");
props->untie("controls/turn-to-recovery-hdg");
props->untie("controls/turn-to-base-course");
}
@ -539,18 +569,52 @@ void FGAICarrier::UpdateWind( double dt) {
void FGAICarrier::TurnToLaunch(){
// calculate tgt heading
if (wind_speed_kts < 3){
tgt_heading = base_course;
} else {
tgt_heading = wind_from_deg;
}
//calculate tgt speed
double tgt_speed = 25 - wind_speed_kts;
if (tgt_speed < 10)
tgt_speed = 10;
//turn the carrier
FGAIShip::TurnTo(wind_from_deg);
FGAIShip::TurnTo(tgt_heading);
FGAIShip::AccelTo(tgt_speed);
}
void FGAICarrier::TurnToRecover(){
//these are the rules for adjusting heading to provide a relative wind
//down the angled flightdeck
if (wind_speed_kts < 3){
tgt_heading = base_course + 60;
} else if (rel_wind < -9 && rel_wind >= -180){
tgt_heading = wind_from_deg;
} else if (rel_wind > -7 && rel_wind < 45){
tgt_heading = wind_from_deg + 60;
} else if (rel_wind >=45 && rel_wind < 180){
tgt_heading = wind_from_deg + 45;
} else
tgt_heading = hdg;
SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
//calculate tgt speed
double tgt_speed = 26 - wind_speed_kts;
if (tgt_speed < 10)
tgt_speed = 10;
//turn the carrier
FGAIShip::TurnTo(tgt_heading);
FGAIShip::AccelTo(tgt_speed);
}
void FGAICarrier::TurnToBase(){
//turn the carrier
@ -625,9 +689,12 @@ bool FGAICarrier::OutsideBox() { //returns true if the carrier is outside operat
bool FGAICarrier::InToWind() {
if ( fabs(rel_wind) < 5 )
return true;
in_to_wind = false;
if ( fabs(rel_wind) < 10 ){
in_to_wind = true;
return true;
}
return false;
}

7
src/AIModel/AICarrier.hxx
View file

@ -60,7 +60,9 @@ public:
void setMinLat( double deg );
void setMaxLong( double deg );
void setMinLong( double deg );
void setMPControl( bool c );
void TurnToLaunch();
void TurnToRecover();
void TurnToBase();
void ReturnToBox();
bool OutsideBox();
@ -96,6 +98,7 @@ private:
double rel_wind_from_deg;
list<string> wire_objects; // List of wire object names
list<string> catapult_objects; // List of catapult object names
list<ParkPosition> ppositions; // List of positions where an aircraft can start.
@ -108,6 +111,7 @@ private:
double angle;
int source; // the flols light which is visible at the moment
bool wave_off_lights;
bool in_to_wind;
// these are for maneuvering the carrier
SGGeod mOpBoxPos;
@ -121,8 +125,11 @@ private:
double base_course, base_speed;
bool turn_to_launch_hdg;
bool turn_to_recovery_hdg;
bool turn_to_base_course;
bool returning; // set if the carrier is returning to an operating box
bool InToWind(); // set if the carrier is in to wind
bool MPControl;
SGPropertyNode_ptr _longitude_node;

18
src/AIModel/AIShip.cxx
View file

@ -29,6 +29,8 @@
#endif
#include <math.h>
#include <simgear/sg_inlines.h>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/timing/sg_time.hxx>
#include <simgear/math/sg_random.h>
@ -162,6 +164,8 @@ void FGAIShip::bind() {
SGRawValuePointer<bool>(&_waiting));
props->tie("submodels/serviceable",
SGRawValuePointer<bool>(&_serviceable));
props->tie("controls/turn-radius-ft",
SGRawValuePointer<double>(&turn_radius_ft));
}
void FGAIShip::unbind() {
@ -184,6 +188,7 @@ void FGAIShip::unbind() {
props->untie("position/waypoint-wait-count");
props->untie("position/waypoint-waiting");
props->untie("submodels/serviceable");
props->untie("controls/turn-radius-ft");
}
void FGAIShip::update(double dt) {
@ -269,9 +274,6 @@ void FGAIShip::Run(double dt) {
pos.setLongitudeDeg(pos.getLongitudeDeg() + speed_east_deg_sec * dt);
// adjust heading based on current _rudder angle
//cout << "turn_radius_ft " << turn_radius_ft ;
if (turn_radius_ft <= 0)
turn_radius_ft = 0; // don't allow nonsense values
@ -289,8 +291,6 @@ void FGAIShip::Run(double dt) {
// we need to allow for negative speeds
_sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
//cout << " speed turn radius " << _sp_turn_radius_ft ;
if (_rudder <= -0.25 || _rudder >= 0.25) {
// adjust turn radius for _rudder angle. The equation is even more approximate.
float a = 19;
@ -299,19 +299,13 @@ void FGAIShip::Run(double dt) {
_rd_turn_radius_ft = (a * exp(b * fabs(_rudder)) + c) * _sp_turn_radius_ft;
//cout <<" _rudder turn radius " << _rd_turn_radius_ft << endl;
// 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;
// make sure that alpha is applied in the right direction
hdg += alpha * sign(_rudder);
if (hdg > 360.0)
hdg -= 360.0;
if (hdg < 0.0)
hdg += 360.0;
SG_NORMALIZE_RANGE(hdg, 0.0, 360.0);
//adjust roll for rudder angle and speed. Another bit of voodoo
raw_roll = _roll_factor * speed * _rudder;