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flightgear/src/AIModel/AIBase.cxx
Vivian Meazza 9e44be1df7 Merge branch 'next' of D:\Git_New\flightgear into next 
Conflicts:
	src/AIModel/AIBallistic.cxx
2010-08-29 00:08:50 +01:00

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// FGAIBase - abstract base class for AI objects
// Written by David Culp, started Nov 2003, based on
// David Luff's FGAIEntity class.
// - davidculp2@comcast.net
//
// With additions by Mathias Froehlich & Vivian Meazza 2004 -2007
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <simgear/compiler.h>
#include <string>
#include <osg/ref_ptr>
#include <osg/Node>
#include <osgDB/FileUtils>
#include <simgear/math/SGMath.hxx>
#include <simgear/misc/sg_path.hxx>
#include <simgear/scene/model/modellib.hxx>
#include <simgear/scene/util/SGNodeMasks.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/props/props.hxx>
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include <Scripting/NasalSys.hxx>
#include "AIBase.hxx"
#include "AIManager.hxx"
const char *default_model = "Models/Geometry/glider.ac";
const double FGAIBase::e = 2.71828183;
const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
using namespace simgear;
FGAIBase::FGAIBase(object_type ot) :
props( NULL ),
model_removed( fgGetNode("/ai/models/model-removed", true) ),
manager( NULL ),
fp( NULL ),
_impact_lat(0),
_impact_lon(0),
_impact_elev(0),
_impact_hdg(0),
_impact_pitch(0),
_impact_roll(0),
_impact_speed(0),
_refID( _newAIModelID() ),
_otype(ot),
_initialized(false)
{
tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
bearing = elevation = range = rdot = 0.0;
x_shift = y_shift = rotation = 0.0;
in_range = false;
invisible = false;
no_roll = true;
life = 900;
delete_me = false;
_impact_reported = false;
_collision_reported = false;
_expiry_reported = false;
_subID = 0;
_x_offset = 0;
_y_offset = 0;
_z_offset = 0;
_pitch_offset = 0;
_roll_offset = 0;
_yaw_offset = 0;
userpos = SGGeod::fromDeg(0, 0);
pos = SGGeod::fromDeg(0, 0);
speed = 0;
altitude_ft = 0;
speed_north_deg_sec = 0;
speed_east_deg_sec = 0;
turn_radius_ft = 0;
ft_per_deg_lon = 0;
ft_per_deg_lat = 0;
horiz_offset = 0;
vert_offset = 0;
ht_diff = 0;
serviceable = false;
fp = 0;
rho = 1;
T = 280;
p = 1e5;
a = 340;
Mach = 0;
}
FGAIBase::~FGAIBase() {
// Unregister that one at the scenery manager
if (globals->get_scenery()) {
globals->get_scenery()->get_scene_graph()->removeChild(aip.getSceneGraph());
}
if (props) {
SGPropertyNode* parent = props->getParent();
if (parent)
model_removed->setStringValue(props->getPath());
}
delete fp;
fp = 0;
}
void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
{
if (!scFileNode)
return;
setPath(scFileNode->getStringValue("model",
fgGetString("/sim/multiplay/default-model", default_model)));
setHeading(scFileNode->getDoubleValue("heading", 0.0));
setSpeed(scFileNode->getDoubleValue("speed", 0.0));
setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
setBank(scFileNode->getDoubleValue("roll", 0.0));
SGPropertyNode* submodels = scFileNode->getChild("submodels");
if (submodels) {
setServiceable(submodels->getBoolValue("serviceable", false));
setSMPath(submodels->getStringValue("path", ""));
}
}
void FGAIBase::update(double dt) {
if (_otype == otStatic)
return;
if (_otype == otBallistic)
CalculateMach();
ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
}
void FGAIBase::Transform() {
if (!invisible) {
aip.setVisible(true);
aip.setPosition(pos);
if (no_roll)
aip.setOrientation(0.0, pitch, hdg);
else
aip.setOrientation(roll, pitch, hdg);
aip.update();
} else {
aip.setVisible(false);
aip.update();
}
}
bool FGAIBase::init(bool search_in_AI_path) {
osg::ref_ptr<osgDB::ReaderWriter::Options> opt=
new osgDB::ReaderWriter::Options(*osgDB::Registry::instance()->getOptions());
if(search_in_AI_path)
{
SGPath ai_path(globals->get_fg_root());
ai_path.append("AI");
opt->getDatabasePathList().push_front(ai_path.str());
}
string f = osgDB::findDataFile(model_path, opt.get());
if(f.empty())
f = fgGetString("/sim/multiplay/default-model", default_model);
model = load3DModel(f, props);
if (model.valid() && _initialized == false) {
aip.init( model.get() );
aip.setVisible(true);
invisible = false;
globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
_initialized = true;
} else if (!model_path.empty()) {
SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
}
setDie(false);
return true;
}
void FGAIBase::initModel(osg::Node *node)
{
if (model.valid()) {
if( _path != ""){
props->setStringValue("submodels/path", _path.c_str());
SG_LOG(SG_INPUT, SG_DEBUG, "AIBase: submodels/path " << _path);
}
fgSetString("/ai/models/model-added", props->getPath().c_str());
} else if (!model_path.empty()) {
SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
}
//props->setStringValue("submodels/path", _path.c_str());
setDie(false);
}
osg::Node* FGAIBase::load3DModel(const string &path, SGPropertyNode *prop_root)
{
model = SGModelLib::loadPagedModel(path, prop_root, new FGNasalModelData(prop_root));
initModel(model.get());
return model.get();
}
bool FGAIBase::isa( object_type otype ) {
return otype == _otype;
}
void FGAIBase::bind() {
props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
&FGAIBase::getID));
props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
props->tie("velocities/vertical-speed-fps",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getVS_fps,
&FGAIBase::_setVS_fps));
props->tie("position/altitude-ft",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getAltitude,
&FGAIBase::_setAltitude));
props->tie("position/latitude-deg",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getLatitude,
&FGAIBase::_setLatitude));
props->tie("position/longitude-deg",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getLongitude,
&FGAIBase::_setLongitude));
props->tie("position/global-x",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getCartPosX,
0));
props->tie("position/global-y",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getCartPosY,
0));
props->tie("position/global-z",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getCartPosZ,
0));
props->tie("callsign",
SGRawValueMethods<FGAIBase,const char*>(*this,
&FGAIBase::_getCallsign,
0));
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));
props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
props->tie("subID", SGRawValuePointer<int>(&_subID));
props->tie("controls/lighting/nav-lights",
SGRawValueFunctions<bool>(_isNight));
props->setBoolValue("controls/lighting/beacon", true);
props->setBoolValue("controls/lighting/strobe", true);
props->setBoolValue("controls/glide-path", true);
props->setStringValue("controls/flight/lateral-mode", "roll");
props->setDoubleValue("controls/flight/target-hdg", hdg);
props->setDoubleValue("controls/flight/target-roll", roll);
props->setStringValue("controls/flight/longitude-mode", "alt");
props->setDoubleValue("controls/flight/target-alt", altitude_ft);
props->setDoubleValue("controls/flight/target-pitch", pitch);
props->setDoubleValue("controls/flight/target-spd", speed);
}
void FGAIBase::unbind() {
props->untie("id");
props->untie("velocities/true-airspeed-kt");
props->untie("velocities/vertical-speed-fps");
props->untie("position/altitude-ft");
props->untie("position/latitude-deg");
props->untie("position/longitude-deg");
props->untie("position/global-x");
props->untie("position/global-y");
props->untie("position/global-z");
props->untie("callsign");
props->untie("orientation/pitch-deg");
props->untie("orientation/roll-deg");
props->untie("orientation/true-heading-deg");
props->untie("radar/in-range");
props->untie("radar/bearing-deg");
props->untie("radar/elevation-deg");
props->untie("radar/range-nm");
props->untie("radar/h-offset");
props->untie("radar/v-offset");
props->untie("radar/x-shift");
props->untie("radar/y-shift");
props->untie("radar/rotation");
props->untie("radar/ht-diff-ft");
props->untie("controls/lighting/nav-lights");
props->setBoolValue("/sim/controls/radar/", true);
}
double FGAIBase::UpdateRadar(FGAIManager* manager) {
bool control = fgGetBool("/sim/controls/radar", true);
if(!control) return 0;
double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
radar_range_ft2 *= radar_range_ft2;
double user_latitude = manager->get_user_latitude();
double user_longitude = manager->get_user_longitude();
double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
double range_ft2 = lat_range*lat_range + lon_range*lon_range;
//
// Test whether the target is within radar range.
//
in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
if ( in_range || force_on ) {
props->setBoolValue("radar/in-range", true);
// copy values from the AIManager
double user_altitude = manager->get_user_altitude();
double user_heading = manager->get_user_heading();
double user_pitch = manager->get_user_pitch();
//double user_yaw = manager->get_user_yaw();
//double user_speed = manager->get_user_speed();
// calculate range to target in feet and nautical miles
double range_ft = sqrt( range_ft2 );
range = range_ft / 6076.11549;
// calculate bearing to target
if (pos.getLatitudeDeg() >= user_latitude) {
bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
if (pos.getLongitudeDeg() >= user_longitude) {
bearing = 90.0 - bearing;
} else {
bearing = 270.0 + bearing;
}
} else {
bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
if (pos.getLongitudeDeg() >= user_longitude) {
bearing = 180.0 - bearing;
} else {
bearing = 180.0 + bearing;
}
}
// This is an alternate way to compute bearing and distance which
// agrees with the original scheme within about 0.1 degrees.
//
// Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
// user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
// Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
// double gc_bearing, gc_range;
// calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
// gc_range *= SG_METER_TO_NM;
// gc_bearing *= SGD_RADIANS_TO_DEGREES;
// printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
// bearing, range, gc_bearing, gc_range);
// calculate look left/right to target, without yaw correction
horiz_offset = bearing - user_heading;
if (horiz_offset > 180.0) horiz_offset -= 360.0;
if (horiz_offset < -180.0) horiz_offset += 360.0;
// calculate elevation to target
elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
// calculate look up/down to target
vert_offset = elevation - user_pitch;
/* this calculation needs to be fixed, but it isn't important anyway
// calculate range rate
double recip_bearing = bearing + 180.0;
if (recip_bearing > 360.0) recip_bearing -= 360.0;
double my_horiz_offset = recip_bearing - hdg;
if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
+(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
*/
// now correct look left/right for yaw
// horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
// calculate values for radar display
y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
rotation = hdg - user_heading;
if (rotation < 0.0) rotation += 360.0;
ht_diff = altitude_ft - user_altitude;
}
return range_ft2;
}
/*
* Getters and Setters
*/
SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
// Transform that one to the horizontal local coordinate system.
SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
// 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 fixed coordinates axis
SGVec3d off = hlTrans.backTransform(_off);
// Add the position offset of the AIModel to gain the earth centered position
SGVec3d cartPos = SGVec3d::fromGeod(pos);
return cartPos + off;
}
SGVec3d FGAIBase::getCartPos() const {
SGVec3d cartPos = SGVec3d::fromGeod(pos);
return cartPos;
}
bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
const SGMaterial** material) const {
return globals->get_scenery()->get_elevation_m(pos, elev, material,
model.get());
}
double FGAIBase::_getCartPosX() const {
SGVec3d cartPos = getCartPos();
return cartPos.x();
}
double FGAIBase::_getCartPosY() const {
SGVec3d cartPos = getCartPos();
return cartPos.y();
}
double FGAIBase::_getCartPosZ() const {
SGVec3d cartPos = getCartPos();
return cartPos.z();
}
void FGAIBase::_setLongitude( double longitude ) {
pos.setLongitudeDeg(longitude);
}
void FGAIBase::_setLatitude ( double latitude ) {
pos.setLatitudeDeg(latitude);
}
void FGAIBase::_setUserPos(){
userpos.setLatitudeDeg(manager->get_user_latitude());
userpos.setLongitudeDeg(manager->get_user_longitude());
userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
}
void FGAIBase::_setSubID( int s ) {
_subID = s;
}
double FGAIBase::_getLongitude() const {
return pos.getLongitudeDeg();
}
double FGAIBase::_getLatitude() const {
return pos.getLatitudeDeg();
}
double FGAIBase::_getElevationFt() const {
return pos.getElevationFt();
}
double FGAIBase::_getRdot() const {
return rdot;
}
double FGAIBase::_getVS_fps() const {
return vs*60.0;
}
double FGAIBase::_get_speed_east_fps() const {
return speed_east_deg_sec * ft_per_deg_lon;
}
double FGAIBase::_get_speed_north_fps() const {
return speed_north_deg_sec * ft_per_deg_lat;
}
void FGAIBase::_setVS_fps( double _vs ) {
vs = _vs/60.0;
}
double FGAIBase::_getAltitude() const {
return altitude_ft;
}
bool FGAIBase::_getServiceable() const {
return serviceable;
}
SGPropertyNode* FGAIBase::_getProps() const {
return props;
}
void FGAIBase::_setAltitude( double _alt ) {
setAltitude( _alt );
}
bool FGAIBase::_isNight() {
return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
}
bool FGAIBase::_getCollisionData() {
return _collision_reported;
}
bool FGAIBase::_getExpiryData() {
return _expiry_reported;
}
bool FGAIBase::_getImpactData() {
return _impact_reported;
}
double FGAIBase::_getImpactLat() const {
return _impact_lat;
}
double FGAIBase::_getImpactLon() const {
return _impact_lon;
}
double FGAIBase::_getImpactElevFt() const {
return _impact_elev * SG_METER_TO_FEET;
}
double FGAIBase::_getImpactPitch() const {
return _impact_pitch;
}
double FGAIBase::_getImpactRoll() const {
return _impact_roll;
}
double FGAIBase::_getImpactHdg() const {
return _impact_hdg;
}
double FGAIBase::_getImpactSpeed() const {
return _impact_speed;
}
int FGAIBase::getID() const {
return _refID;
}
int FGAIBase::_getSubID() const {
return _subID;
}
double FGAIBase::_getSpeed() const {
return speed;
}
double FGAIBase::_getRoll() const {
return roll;
}
double FGAIBase::_getPitch() const {
return pitch;
}
double FGAIBase::_getHeading() const {
return hdg;
}
double FGAIBase::_getXOffset() const {
return _x_offset;
}
double FGAIBase::_getYOffset() const {
return _y_offset;
}
double FGAIBase::_getZOffset() const {
return _z_offset;
}
const char* FGAIBase::_getPath() const {
return model_path.c_str();
}
const char* FGAIBase::_getSMPath() const {
return _path.c_str();
}
const char* FGAIBase::_getName() const {
return _name.c_str();
}
const char* FGAIBase::_getCallsign() const {
return _callsign.c_str();
}
const char* FGAIBase::_getSubmodel() const {
return _submodel.c_str();
}
void FGAIBase::CalculateMach() {
// Calculate rho at altitude, using standard atmosphere
// For the temperature T and the pressure p,
double altitude = altitude_ft;
if (altitude < 36152) { // curve fits for the troposphere
T = 59 - 0.00356 * altitude;
p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
} else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
T = -70;
p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
} else { // upper stratosphere
T = -205.05 + (0.00164 * altitude);
p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
}
rho = p / (1718 * (T + 459.7));
// calculate the speed of sound at altitude
// a = sqrt ( g * R * (T + 459.7))
// where:
// a = speed of sound [ft/s]
// g = specific heat ratio, which is usually equal to 1.4
// R = specific gas constant, which equals 1716 ft-lb/slug/R
a = sqrt ( 1.4 * 1716 * (T + 459.7));
// calculate Mach number
Mach = speed/a;
// cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
}
int FGAIBase::_newAIModelID() {
static int id = 0;
if (!++id)
id++; // id = 0 is not allowed.
return id;
}
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