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flightgear/src/AIModel/AICarrier.cxx
mfranz 03bf631765 ban not so informative message
2005-11-28 10:18:39 +00:00

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// FGAICarrier - FGAIShip-derived class creates an AI aircraft carrier
//
// Written by David Culp, started October 2004.
// - davidculp2@comcast.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., 675 Mass Ave, Cambridge, MA 02139, USA.
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <string>
#include <vector>
#include <simgear/math/point3d.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <math.h>
#include <Main/util.hxx>
#include <Main/viewer.hxx>
#include "AICarrier.hxx"
#include "AIScenario.hxx"
/** Value of earth radius (meters) */
#define RADIUS_M SG_EQUATORIAL_RADIUS_M
FGAICarrier::FGAICarrier(FGAIManager* mgr) : FGAIShip(mgr) {
_type_str = "carrier";
_otype = otCarrier;
}
FGAICarrier::~FGAICarrier() {
}
void FGAICarrier::setWind_from_east(double fps) {
wind_from_east = fps;
}
void FGAICarrier::setWind_from_north(double fps) {
wind_from_north = fps;
}
void FGAICarrier::setMaxLat(double deg) {
max_lat = fabs(deg);
}
void FGAICarrier::setMinLat(double deg) {
min_lat = fabs(deg);
}
void FGAICarrier::setMaxLong(double deg) {
max_long = fabs(deg);
}
void FGAICarrier::setMinLong(double deg) {
min_long = fabs(deg);
}
void FGAICarrier::setSolidObjects(const list<string>& so) {
solid_objects = so;
}
void FGAICarrier::setWireObjects(const list<string>& wo) {
wire_objects = wo;
}
void FGAICarrier::setCatapultObjects(const list<string>& co) {
catapult_objects = co;
}
void FGAICarrier::setParkingPositions(const list<ParkPosition>& p) {
ppositions = p;
}
void FGAICarrier::setSign(const string& s) {
sign = s;
}
void FGAICarrier::setTACANChannelID(const string& id) {
TACAN_channel_id = id;
}
void FGAICarrier::setFlolsOffset(const Point3D& off) {
flols_off = off;
}
void FGAICarrier::getVelocityWrtEarth(sgdVec3& v, sgdVec3& omega, sgdVec3& pivot) {
sgdCopyVec3(v, vel_wrt_earth );
sgdCopyVec3(omega, rot_wrt_earth );
sgdCopyVec3(pivot, rot_pivot_wrt_earth );
}
void FGAICarrier::update(double dt) {
// For computation of rotation speeds we just use finite differences her.
// That is perfectly valid since this thing is not driven by accelerations
// but by just apply discrete changes at its velocity variables.
double old_hdg = hdg;
double old_roll = roll;
double old_pitch = pitch;
// Update the velocity information stored in those nodes.
double v_north = 0.51444444*speed*cos(hdg * SGD_DEGREES_TO_RADIANS);
double v_east = 0.51444444*speed*sin(hdg * SGD_DEGREES_TO_RADIANS);
double sin_lat = sin(pos.lat() * SGD_DEGREES_TO_RADIANS);
double cos_lat = cos(pos.lat() * SGD_DEGREES_TO_RADIANS);
double sin_lon = sin(pos.lon() * SGD_DEGREES_TO_RADIANS);
double cos_lon = cos(pos.lon() * SGD_DEGREES_TO_RADIANS);
double sin_roll = sin(roll * SGD_DEGREES_TO_RADIANS);
double cos_roll = cos(roll * SGD_DEGREES_TO_RADIANS);
double sin_pitch = sin(pitch * SGD_DEGREES_TO_RADIANS);
double cos_pitch = cos(pitch * SGD_DEGREES_TO_RADIANS);
double sin_hdg = sin(hdg * SGD_DEGREES_TO_RADIANS);
double cos_hdg = cos(hdg * SGD_DEGREES_TO_RADIANS);
// Transform this back the the horizontal local frame.
sgdMat3 trans;
// set up the transform matrix
trans[0][0] = cos_pitch*cos_hdg;
trans[0][1] = sin_roll*sin_pitch*cos_hdg - cos_roll*sin_hdg;
trans[0][2] = cos_roll*sin_pitch*cos_hdg + sin_roll*sin_hdg;
trans[1][0] = cos_pitch*sin_hdg;
trans[1][1] = sin_roll*sin_pitch*sin_hdg + cos_roll*cos_hdg;
trans[1][2] = cos_roll*sin_pitch*sin_hdg - sin_roll*cos_hdg;
trans[2][0] = -sin_pitch;
trans[2][1] = sin_roll*cos_pitch;
trans[2][2] = cos_roll*cos_pitch;
sgdSetVec3( vel_wrt_earth,
- cos_lon*sin_lat*v_north - sin_lon*v_east,
- sin_lon*sin_lat*v_north + cos_lon*v_east,
cos_lat*v_north );
sgGeodToCart(pos.lat() * SGD_DEGREES_TO_RADIANS,
pos.lon() * SGD_DEGREES_TO_RADIANS,
pos.elev(), rot_pivot_wrt_earth);
// 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
if(turn_to_launch_hdg){
TurnToLaunch();
} else if(OutsideBox() || returning) {// check that the carrier is inside the operating box
ReturnToBox();
} else { //if(!returning
TurnToBase();
} //end if
// Only change these values if we are able to compute them safely
if (dt < DBL_MIN)
sgdSetVec3( rot_wrt_earth, 0.0, 0.0, 0.0);
else {
// Compute the change of the euler angles.
double hdg_dot = SGD_DEGREES_TO_RADIANS * (hdg-old_hdg)/dt;
// Allways assume that the movement was done by the shorter way.
if (hdg_dot < - SGD_DEGREES_TO_RADIANS * 180)
hdg_dot += SGD_DEGREES_TO_RADIANS * 360;
if (hdg_dot > SGD_DEGREES_TO_RADIANS * 180)
hdg_dot -= SGD_DEGREES_TO_RADIANS * 360;
double pitch_dot = SGD_DEGREES_TO_RADIANS * (pitch-old_pitch)/dt;
// Allways assume that the movement was done by the shorter way.
if (pitch_dot < - SGD_DEGREES_TO_RADIANS * 180)
pitch_dot += SGD_DEGREES_TO_RADIANS * 360;
if (pitch_dot > SGD_DEGREES_TO_RADIANS * 180)
pitch_dot -= SGD_DEGREES_TO_RADIANS * 360;
double roll_dot = SGD_DEGREES_TO_RADIANS * (roll-old_roll)/dt;
// Allways assume that the movement was done by the shorter way.
if (roll_dot < - SGD_DEGREES_TO_RADIANS * 180)
roll_dot += SGD_DEGREES_TO_RADIANS * 360;
if (roll_dot > SGD_DEGREES_TO_RADIANS * 180)
roll_dot -= SGD_DEGREES_TO_RADIANS * 360;
/*cout << "euler derivatives = "
<< roll_dot << " " << pitch_dot << " " << hdg_dot << endl;*/
// Now Compute the rotation vector in the carriers coordinate frame
// originating from the euler angle changes.
sgdVec3 body;
body[0] = roll_dot - hdg_dot*sin_pitch;
body[1] = pitch_dot*cos_roll + hdg_dot*sin_roll*cos_pitch;
body[2] = -pitch_dot*sin_roll + hdg_dot*cos_roll*cos_pitch;
// Transform that back to the horizontal local frame.
sgdVec3 hl;
hl[0] = body[0]*trans[0][0] + body[1]*trans[0][1] + body[2]*trans[0][2];
hl[1] = body[0]*trans[1][0] + body[1]*trans[1][1] + body[2]*trans[1][2];
hl[2] = body[0]*trans[2][0] + body[1]*trans[2][1] + body[2]*trans[2][2];
// Now we need to project out rotation components ending in speeds in y
// direction in the hoirizontal local frame.
hl[1] = 0;
// Transform that to the earth centered frame.
sgdSetVec3(rot_wrt_earth,
- cos_lon*sin_lat*hl[0] - sin_lon*hl[1] - cos_lat*cos_lon*hl[2],
- sin_lon*sin_lat*hl[0] + cos_lon*hl[1] - cos_lat*sin_lon*hl[2],
cos_lat*hl[0] - sin_lat*hl[2]);
}
UpdateWind(dt);
UpdateTACAN(dt);
UpdateFlols(trans);
} //end update
bool FGAICarrier::init() {
if (!FGAIShip::init())
return false;
// process the 3d model here
// mark some objects solid, mark the wires ...
// The model should be used for altitude computations.
// To avoid that every detail in a carrier 3D model will end into
// the aircraft local cache, only set the HOT traversal bit on
// selected objects.
ssgEntity *sel = aip.getSceneGraph();
// Clear the HOT traversal flag
mark_nohot(sel);
// Selectively set that flag again for wires/cats/solid objects.
// Attach a pointer to this carrier class to those objects.
mark_wires(sel, wire_objects);
mark_cat(sel, catapult_objects);
mark_solid(sel, solid_objects);
_longitude_node = fgGetNode("/position/longitude-deg", true);
_latitude_node = fgGetNode("/position/latitude-deg", true);
_altitude_node = fgGetNode("/position/altitude-ft", true);
_dme_freq_node = fgGetNode("/instrumentation/dme/frequencies/selected-mhz", true);
_surface_wind_from_deg_node =
fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
_surface_wind_speed_node =
fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
turn_to_launch_hdg = false;
returning = false;
initialpos = pos;
base_course = hdg;
base_speed = speed;
return true;
}
void FGAICarrier::bind() {
FGAIShip::bind();
props->untie("velocities/true-airspeed-kt");
props->tie("controls/flols/source-lights",
SGRawValuePointer<int>(&source));
props->tie("controls/flols/distance-m",
SGRawValuePointer<double>(&dist));
props->tie("controls/flols/angle-degs",
SGRawValuePointer<double>(&angle));
props->tie("controls/turn-to-launch-hdg",
SGRawValuePointer<bool>(&turn_to_launch_hdg));
props->tie("controls/in-to-wind",
SGRawValuePointer<bool>(&turn_to_launch_hdg));
props->tie("controls/base-course-deg",
SGRawValuePointer<double>(&base_course));
props->tie("controls/base-speed-kts",
SGRawValuePointer<double>(&base_speed));
props->tie("controls/start-pos-lat-deg",
SGRawValuePointer<double>(&initialpos[1]));
props->tie("controls/start-pos-long-deg",
SGRawValuePointer<double>(&initialpos[0]));
props->tie("velocities/speed-kts",
SGRawValuePointer<double>(&speed));
props->tie("environment/surface-wind-speed-true-kts",
SGRawValuePointer<double>(&wind_speed_kts));
props->tie("environment/surface-wind-from-true-degs",
SGRawValuePointer<double>(&wind_from_deg));
props->tie("environment/rel-wind-from-degs",
SGRawValuePointer<double>(&rel_wind_from_deg));
props->tie("environment/rel-wind-from-carrier-hdg-degs",
SGRawValuePointer<double>(&rel_wind));
props->tie("environment/rel-wind-speed-kts",
SGRawValuePointer<double>(&rel_wind_speed_kts));
props->tie("controls/flols/wave-off-lights",
SGRawValuePointer<bool>(&wave_off_lights));
props->setBoolValue("controls/flols/cut-lights", false);
props->setBoolValue("controls/flols/wave-off-lights", false);
props->setBoolValue("controls/flols/cond-datum-lights", true);
props->setBoolValue("controls/crew", false);
props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
props->setStringValue("sign", sign.c_str());
}
void FGAICarrier::unbind() {
FGAIShip::unbind();
props->untie("velocities/true-airspeed-kt");
props->untie("controls/flols/source-lights");
props->untie("controls/flols/distance-m");
props->untie("controls/flols/angle-degs");
props->untie("controls/turn-to-launch-hdg");
props->untie("velocities/speed-kts");
props->untie("environment/wind-speed-true-kts");
props->untie("environment/wind-from-true-degs");
props->untie("environment/rel-wind-from-degs");
props->untie("environment/rel-wind-speed-kts");
props->untie("controls/flols/wave-off-lights");
}
bool FGAICarrier::getParkPosition(const string& id, Point3D& geodPos,
double& hdng, sgdVec3 uvw)
{
// FIXME: does not yet cover rotation speeds.
list<ParkPosition>::iterator it = ppositions.begin();
while (it != ppositions.end()) {
// Take either the specified one or the first one ...
if ((*it).name == id || id.empty()) {
ParkPosition ppos = *it;
geodPos = getGeocPosAt(ppos.offset);
hdng = hdg + ppos.heading_deg;
double shdng = sin(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
double chdng = cos(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
double speed_fps = speed*1.6878099;
sgdSetVec3(uvw, chdng*speed_fps, shdng*speed_fps, 0);
return true;
}
++it;
}
return false;
}
void FGAICarrier::mark_nohot(ssgEntity* e) {
if (e->isAKindOf(ssgTypeBranch())) {
ssgBranch* br = (ssgBranch*)e;
ssgEntity* kid;
for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
mark_nohot(kid);
br->clrTraversalMaskBits(SSGTRAV_HOT);
} else if (e->isAKindOf(ssgTypeLeaf())) {
e->clrTraversalMaskBits(SSGTRAV_HOT);
}
}
bool FGAICarrier::mark_wires(ssgEntity* e, const list<string>& wire_objects, bool mark) {
bool found = false;
if (e->isAKindOf(ssgTypeBranch())) {
ssgBranch* br = (ssgBranch*)e;
ssgEntity* kid;
list<string>::const_iterator it;
for (it = wire_objects.begin(); it != wire_objects.end(); ++it)
mark = mark || (e->getName() && (*it) == e->getName());
for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
found = mark_wires(kid, wire_objects, mark) || found;
if (found)
br->setTraversalMaskBits(SSGTRAV_HOT);
} else if (e->isAKindOf(ssgTypeLeaf())) {
list<string>::const_iterator it;
for (it = wire_objects.begin(); it != wire_objects.end(); ++it) {
if (mark || (e->getName() && (*it) == e->getName())) {
e->setTraversalMaskBits(SSGTRAV_HOT);
ssgBase* ud = e->getUserData();
if (ud) {
FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
if (ch) {
SG_LOG(SG_GENERAL, SG_WARN,
"AICarrier: Carrier hardware gets marked twice!\n"
" You have propably a whole branch marked as"
" a wire which also includes other carrier hardware."
);
} else {
SG_LOG(SG_GENERAL, SG_ALERT,
"AICarrier: Found user data attached to a leaf node which "
"should be marked as a wire!\n ****Skipping!****");
}
} else {
e->setUserData( FGAICarrierHardware::newWire( this ) );
ssgLeaf *l = (ssgLeaf*)e;
if ( l->getNumLines() != 1 ) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AICarrier: Found wires not modelled with exactly one line!");
}
found = true;
}
}
}
}
return found;
}
bool FGAICarrier::mark_solid(ssgEntity* e, const list<string>& solid_objects, bool mark) {
bool found = false;
if (e->isAKindOf(ssgTypeBranch())) {
ssgBranch* br = (ssgBranch*)e;
ssgEntity* kid;
list<string>::const_iterator it;
for (it = solid_objects.begin(); it != solid_objects.end(); ++it)
mark = mark || (e->getName() && (*it) == e->getName());
for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
found = mark_solid(kid, solid_objects, mark) || found;
if (found)
br->setTraversalMaskBits(SSGTRAV_HOT);
} else if (e->isAKindOf(ssgTypeLeaf())) {
list<string>::const_iterator it;
for (it = solid_objects.begin(); it != solid_objects.end(); ++it) {
if (mark || (e->getName() && (*it) == e->getName())) {
e->setTraversalMaskBits(SSGTRAV_HOT);
ssgBase* ud = e->getUserData();
if (ud) {
FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
if (ch) {
SG_LOG(SG_GENERAL, SG_WARN,
"AICarrier: Carrier hardware gets marked twice!\n"
" You have propably a whole branch marked solid"
" which also includes other carrier hardware."
);
} else {
SG_LOG(SG_GENERAL, SG_ALERT,
"AICarrier: Found user data attached to a leaf node which "
"should be marked solid!\n ****Skipping!****");
}
} else {
e->setUserData( FGAICarrierHardware::newSolid( this ) );
found = true;
}
}
}
}
return found;
}
bool FGAICarrier::mark_cat(ssgEntity* e, const list<string>& cat_objects, bool mark) {
bool found = false;
if (e->isAKindOf(ssgTypeBranch())) {
ssgBranch* br = (ssgBranch*)e;
ssgEntity* kid;
list<string>::const_iterator it;
for (it = cat_objects.begin(); it != cat_objects.end(); ++it)
mark = mark || (e->getName() && (*it) == e->getName());
for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
found = mark_cat(kid, cat_objects, mark) || found;
if (found)
br->setTraversalMaskBits(SSGTRAV_HOT);
} else if (e->isAKindOf(ssgTypeLeaf())) {
list<string>::const_iterator it;
for (it = cat_objects.begin(); it != cat_objects.end(); ++it) {
if (mark || (e->getName() && (*it) == e->getName())) {
e->setTraversalMaskBits(SSGTRAV_HOT);
ssgBase* ud = e->getUserData();
if (ud) {
FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
if (ch) {
SG_LOG(SG_GENERAL, SG_WARN,
"AICarrier: Carrier hardware gets marked twice!\n"
"You have probably a whole branch marked as"
"a catapult which also includes other carrier hardware."
);
} else {
SG_LOG(SG_GENERAL, SG_ALERT,
"AICarrier: Found user data attached to a leaf node which "
"should be marked as a catapult!\n ****Skipping!****");
}
} else {
e->setUserData( FGAICarrierHardware::newCatapult( this ) );
ssgLeaf *l = (ssgLeaf*)e;
if ( l->getNumLines() != 1 ) {
SG_LOG(SG_GENERAL, SG_ALERT,
"AICarrier: Found a cat not modelled with exactly "
"one line!");
} else {
// Now some special code to make sure the cat points in the right
// direction. The 0 index must be the backward end, the 1 index
// the forward end.
// Forward is positive x-direction in our 3D model, also the model
// as such is flattened when it is loaded, so we do not need to
// care for transforms ...
short v[2];
l->getLine(0, v, v+1 );
sgVec3 ends[2];
for (int k=0; k<2; ++k)
sgCopyVec3( ends[k], l->getVertex( v[k] ) );
// When the 1 end is behind the 0 end, swap the coordinates.
if (ends[0][0] < ends[1][0]) {
sgCopyVec3( l->getVertex( v[0] ), ends[1] );
sgCopyVec3( l->getVertex( v[1] ), ends[0] );
}
found = true;
}
}
}
}
}
return found;
}
void FGAICarrier::UpdateFlols(const sgdMat3& trans) {
float in[3];
float out[3];
double flolsXYZ[3], eyeXYZ[3];
double lat, lon, alt;
Point3D eyepos;
Point3D flolspos;
/* cout << "x_offset " << flols_x_offset
<< " y_offset " << flols_y_offset
<< " z_offset " << flols_z_offset << endl;
cout << "roll " << roll
<< " heading " << hdg
<< " pitch " << pitch << endl;
cout << "carrier lon " << pos[0]
<< " lat " << pos[1]
<< " alt " << pos[2] << endl;*/
// set the Flols intitial position to the carrier position
flolspos = pos;
/* cout << "flols lon " << flolspos[0]
<< " lat " << flolspos[1]
<< " alt " << flolspos[2] << endl;*/
// set the offsets in metres
/* cout << "flols_x_offset " << flols_x_offset << endl
<< "flols_y_offset " << flols_y_offset << endl
<< "flols_z_offset " << flols_z_offset << endl;*/
in[0] = flols_off.x();
in[1] = flols_off.y();
in[2] = flols_off.z();
// multiply the input and transform matrices
out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2];
out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2];
// convert meters to ft to degrees of latitude
out[0] = (out[0] * 3.28083989501) /(366468.96 - 3717.12 * cos(flolspos[0] * SG_DEGREES_TO_RADIANS));
// convert meters to ft to degrees of longitude
out[1] = (out[1] * 3.28083989501)/(365228.16 * cos(flolspos[1] * SG_DEGREES_TO_RADIANS));
//print out the result
/* cout << "lat adjust deg" << out[0]
<< " lon adjust deg " << out[1]
<< " alt adjust m " << out[2] << endl;*/
// adjust Flols position
flolspos[0] += out[0];
flolspos[1] += out[1];
flolspos[2] += out[2];
// convert flols position to cartesian co-ordinates
sgGeodToCart(flolspos[1] * SG_DEGREES_TO_RADIANS,
flolspos[0] * SG_DEGREES_TO_RADIANS,
flolspos[2] , flolsXYZ );
/* cout << "flols X " << flolsXYZ[0]
<< " Y " << flolsXYZ[1]
<< " Z " << flolsXYZ[2] << endl;
// check the conversion
sgCartToGeod(flolsXYZ, &lat, &lon, &alt);
cout << "flols check lon " << lon
<< " lat " << lat
<< " alt " << alt << endl; */
//get the current position of the pilot's eyepoint (cartesian cordinates)
sgdCopyVec3( eyeXYZ, globals->get_current_view()->get_absolute_view_pos() );
/* cout << "Eye_X " << eyeXYZ[0]
<< " Eye_Y " << eyeXYZ[1]
<< " Eye_Z " << eyeXYZ[2] << endl; */
sgCartToGeod(eyeXYZ, &lat, &lon, &alt);
eyepos[0] = lon * SG_RADIANS_TO_DEGREES;
eyepos[1] = lat * SG_RADIANS_TO_DEGREES;
eyepos[2] = alt;
/* cout << "eye lon " << eyepos[0]
<< " eye lat " << eyepos[1]
<< " eye alt " << eyepos[2] << endl; */
//calculate the ditance from eye to flols
dist = sgdDistanceVec3( flolsXYZ, eyeXYZ );
//apply an index error
dist -= 100;
//cout << "distance " << dist << endl;
if ( dist < 5000 ) {
// calculate height above FLOLS
double y = eyepos[2] - flolspos[2];
// calculate the angle from the flols to eye
// above the horizontal
// double angle;
if ( dist != 0 ) {
angle = asin( y / dist );
} else {
angle = 0.0;
}
angle *= SG_RADIANS_TO_DEGREES;
// cout << " height " << y << " angle " << angle ;
// set the value of source
if ( angle <= 4.35 && angle > 4.01 )
{ source = 1; }
else if ( angle <= 4.01 && angle > 3.670 )
{ source = 2; }
else if ( angle <= 3.670 && angle > 3.330 )
{ source = 3; }
else if ( angle <= 3.330 && angle > 2.990 )
{ source = 4; }
else if ( angle <= 2.990 && angle > 2.650 )
{ source = 5; }
else if ( angle <= 2.650 )
{ source = 6; }
else
{ source = 0; }
// cout << " source " << source << endl;
}
} // end updateflols
// find relative wind
void FGAICarrier::UpdateWind( double dt) {
double recip;
//calculate the reciprocal hdg
if (hdg >= 180){
recip = hdg - 180;
}
else{
recip = hdg + 180;
}
//cout <<" heading: " << hdg << "recip: " << recip << endl;
//get the surface wind speed and direction
wind_from_deg = _surface_wind_from_deg_node->getDoubleValue();
wind_speed_kts = _surface_wind_speed_node->getDoubleValue();
//calculate the surface wind speed north and east in kts
double wind_speed_from_north_kts = cos( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
double wind_speed_from_east_kts = sin( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
//calculate the carrier speed north and east in kts
double speed_north_kts = cos( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
double speed_east_kts = sin( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
//calculate the relative wind speed north and east in kts
double rel_wind_speed_from_east_kts = wind_speed_from_east_kts + speed_east_kts;
double rel_wind_speed_from_north_kts = wind_speed_from_north_kts + speed_north_kts;
//combine relative speeds north and east to get relative windspeed in kts
rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts)
+ (rel_wind_speed_from_north_kts * rel_wind_speed_from_north_kts));
//calculate the relative wind direction
rel_wind_from_deg = atan(rel_wind_speed_from_east_kts/rel_wind_speed_from_north_kts)
* SG_RADIANS_TO_DEGREES;
// rationalise the output
if (rel_wind_speed_from_north_kts <= 0){
rel_wind_from_deg = 180 + rel_wind_from_deg;
}
else{
if(rel_wind_speed_from_east_kts <= 0){
rel_wind_from_deg = 360 + rel_wind_from_deg;
}
}
//calculate rel wind
rel_wind = rel_wind_from_deg - hdg ;
if (rel_wind > 180) rel_wind -= 360;
//switch the wave-off lights
if (InToWind()){
wave_off_lights = false;
}else{
wave_off_lights = true;
}
// cout << "rel wind: " << rel_wind << endl;
}// end update wind
void FGAICarrier::TurnToLaunch(){
//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::AccelTo(tgt_speed);
} // end turn to launch
void FGAICarrier::TurnToBase(){
//turn the carrier
FGAIShip::TurnTo(base_course);
FGAIShip::AccelTo(base_speed);
} // end turn to base
void FGAICarrier::ReturnToBox(){
double course, distance;
//get the carrier position
carrierpos = pos;
//cout << "lat: " << carrierpos[1] << " lon: " << carrierpos[0] << endl;
//calculate the bearing and range of the initial position from the carrier
geo_inverse_wgs_84(carrierpos[2],
carrierpos[1],
carrierpos[0],
initialpos[1],
initialpos[0],
&course, &az2, &distance);
distance *= SG_METER_TO_NM;
//cout << "return course: " << course << " distance: " << distance << endl;
//turn the carrier
FGAIShip::TurnTo(course);
FGAIShip::AccelTo(base_speed);
if (distance >= 1 ){
returning = true;
}else{
returning = false;
}
} // end turn to base
void FGAICarrier::UpdateTACAN(double dt){ //update the TACAN
//cout << "TACAN: " << TACAN_channel_id << endl;
double max_range_nm = 100; //nm
double dme_freq = _dme_freq_node->getDoubleValue();
//cout << "dme_freq: " << dme_freq << endl;
if (TACAN_channel_id == "017X"){
//get the aircraft position
double longitude_deg = _longitude_node->getDoubleValue();
double latitude_deg = _latitude_node->getDoubleValue();
double altitude_m = _altitude_node->getDoubleValue() * SG_FEET_TO_METER;
//get the carrier position
carrierpos = pos;
//cout << "lat: " << carrierpos[1] << " lon: " << carrierpos[0] << endl;
//calculate the bearing and range of the carrier from the aircraft
geo_inverse_wgs_84(altitude_m,
latitude_deg,
longitude_deg,
carrierpos[1],
carrierpos[0],
&bearing, &az2, &range);
range *= SG_METER_TO_NM;
double aircraft_horizon_nm = Horizon(altitude_m) * SG_METER_TO_NM;
double carrier_horizon_nm = Horizon(50) * SG_METER_TO_NM;
double horizon_nm = aircraft_horizon_nm + carrier_horizon_nm;
if (range > horizon_nm || range > max_range_nm) {
range = 0;
bearing = 0 ;
}
/*cout << "bearing: " << bearing << " range: " << range << " altitude: " << altitude_m
<< " horizon: " << horizon_nm << endl; */
} else {
range = 0;
bearing = 0 ;
} // end if
}// end update TACAN
bool FGAICarrier::OutsideBox(){ //returns true if the carrier is outside operating box
if ( max_lat == 0 && min_lat == 0 && max_long == 0 && min_long == 0) {
SG_LOG(SG_GENERAL, SG_BULK,"AICarrier: No Operating Box defined" );
return false;
}
if (initialpos[1] >= 0){//northern hemisphere
if (pos[1] >= initialpos[1] + max_lat) {return true;}
else if (pos[1] <= initialpos[1] - min_lat) {return true;}
}else{ //southern hemisphere
if (pos[1] <= initialpos[1] - max_lat) {return true;}
else if (pos[1] >= initialpos[1] + min_lat) {return true;}
}
if (initialpos[0] >=0) {//eastern hemisphere
if (pos[0] >= initialpos[0] + max_long) {return true;}
else if (pos[0] <= initialpos[0] - min_long) {return true;}
}else{ //western hemisphere
if (pos[0] <= initialpos[0] - max_long) {return true;}
else if (pos[0] >= initialpos[0] + min_long) {return true;}
}
SG_LOG(SG_GENERAL, SG_BULK,"AICarrier: Inside Operating Box" );
return false;
} // end OutsideBox
// return the distance to the horizon, given the altitude and the radius of the earth
float FGAICarrier::Horizon(float h) { return RADIUS_M * acos(RADIUS_M / (RADIUS_M + h)); }
bool FGAICarrier::InToWind(){
// test
if ( fabs(rel_wind) < 5 ) return true;
return false;
} //end InToWind
int FGAICarrierHardware::unique_id = 1;
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