166 lines
4 KiB
C++
166 lines
4 KiB
C++
// FGAIShip - FGAIBase-derived class creates an AI ship
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//
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// Written by David Culp, started October 2003.
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// - davidculp2@comcast.net
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <simgear/math/point3d.hxx>
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#include <math.h>
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#include "AIShip.hxx"
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FGAIShip::FGAIShip() {
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hdg_lock = false;
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rudder = 0.0;
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_type_str = "ship";
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}
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FGAIShip::~FGAIShip() {
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}
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bool FGAIShip::init() {
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return FGAIBase::init();
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}
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void FGAIShip::bind() {
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FGAIBase::bind();
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props->tie("surface-positions/rudder-pos-norm",
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SGRawValuePointer<double>(&rudder));
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}
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void FGAIShip::unbind() {
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FGAIBase::unbind();
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}
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void FGAIShip::update(double dt) {
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Run(dt);
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Transform();
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FGAIBase::update(dt);
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}
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void FGAIShip::Run(double dt) {
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double turn_radius_ft;
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double turn_circum_ft;
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double speed_north_deg_sec;
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double speed_east_deg_sec;
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double ft_per_deg_lon;
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double ft_per_deg_lat;
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double dist_covered_ft;
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double alpha;
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// get size of a degree at this latitude
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ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES);
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ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES);
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// adjust speed
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double speed_diff = tgt_speed - speed;
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if (fabs(speed_diff) > 0.1) {
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if (speed_diff > 0.0) speed += 0.1 * dt;
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if (speed_diff < 0.0) speed -= 0.1 * dt;
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}
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// convert speed to degrees per second
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speed_north_deg_sec = cos( hdg / SG_RADIANS_TO_DEGREES )
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* speed * 1.686 / ft_per_deg_lat;
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speed_east_deg_sec = sin( hdg / SG_RADIANS_TO_DEGREES )
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* speed * 1.686 / ft_per_deg_lon;
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// set new position
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pos.setlat( pos.lat() + speed_north_deg_sec * dt);
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pos.setlon( pos.lon() + speed_east_deg_sec * dt);
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// adjust heading based on current rudder angle
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if (rudder != 0.0) {
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turn_radius_ft = 0.088362 * speed * speed
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/ tan( fabs(rudder) / SG_RADIANS_TO_DEGREES );
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turn_circum_ft = SGD_2PI * turn_radius_ft;
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dist_covered_ft = speed * 1.686 * dt;
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alpha = dist_covered_ft / turn_circum_ft * 360.0;
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hdg += alpha * sign( rudder );
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if ( hdg > 360.0 ) hdg -= 360.0;
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if ( hdg < 0.0) hdg += 360.0;
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}
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// adjust target rudder angle if heading lock engaged
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if (hdg_lock) {
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double rudder_sense = 0.0;
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double diff = fabs(hdg - tgt_heading);
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if (diff > 180) diff = fabs(diff - 360);
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double sum = hdg + diff;
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if (sum > 360.0) sum -= 360.0;
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if (fabs(sum - tgt_heading) < 1.0) {
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rudder_sense = 1.0;
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} else {
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rudder_sense = -1.0;
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}
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if (diff < 30) tgt_roll = diff * rudder_sense;
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}
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// adjust rudder angle
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double rudder_diff = tgt_roll - rudder;
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if (fabs(rudder_diff) > 0.1) {
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if (rudder_diff > 0.0) rudder += 5.0 * dt;
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if (rudder_diff < 0.0) rudder -= 5.0 * dt;
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}
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}
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void FGAIShip::AccelTo(double speed) {
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tgt_speed = speed;
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}
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void FGAIShip::PitchTo(double angle) {
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tgt_pitch = angle;
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}
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void FGAIShip::RollTo(double angle) {
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tgt_roll = angle;
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}
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void FGAIShip::YawTo(double angle) {
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}
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void FGAIShip::ClimbTo(double altitude) {
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}
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void FGAIShip::TurnTo(double heading) {
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tgt_heading = heading;
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hdg_lock = true;
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}
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double FGAIShip::sign(double x) {
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if ( x < 0.0 ) { return -1.0; }
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else { return 1.0; }
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}
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