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flightgear/src/AIModel/AIManager.cxx
ehofman 3c1a7174fb David Culp: 
Here's some new AI stuff.

1)  AI objects must now be defined in a scenario file, not in preferences.xml
or a *-set file.  (Of course this doesn't prevent objects from being created
dynamically, as with Durk's traffic manager).

2)  A new demo_scenario file is attached.  It creates 3 aircraft, a sailboat,
and a thunderstorm.

3)  Objects without flightplans live forever.

4)  FGAIShip::ProcessFlightplan() is not yet implemented.

5)  preferences.xml should now define only <enabled> and <scenario>
2004-05-29 11:39:10 +00:00

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// AIManager.cxx Based on David Luff's AIMgr:
// - a global management class for AI objects
//
// Written by David Culp, started October 2003.
// - 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.
#include <simgear/misc/sg_path.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include <list>
#include "AIManager.hxx"
#include "AIAircraft.hxx"
#include "AIShip.hxx"
#include "AIBallistic.hxx"
#include "AIStorm.hxx"
#include "AIThermal.hxx"
SG_USING_STD(list);
FGAIManager::FGAIManager() {
initDone = false;
numObjects = 0;
_dt = 0.0;
dt_count = 9;
scenario_filename = "";
}
FGAIManager::~FGAIManager() {
ai_list_itr = ai_list.begin();
while(ai_list_itr != ai_list.end()) {
delete (*ai_list_itr);
++ai_list_itr;
}
ai_list.clear();
ids.clear();
}
void FGAIManager::init() {
root = fgGetNode("sim/ai", true);
enabled = root->getNode("enabled", true)->getBoolValue();
if (!enabled)
return;
wind_from_down = fgGetNode("/environment/wind-from-down-fps", true);
scenario_filename = root->getNode("scenario", true)->getStringValue();
if (scenario_filename != "") processScenario( scenario_filename );
initDone = true;
}
void FGAIManager::bind() {
root = globals->get_props()->getNode("ai/models", true);
root->tie("count", SGRawValuePointer<int>(&numObjects));
}
void FGAIManager::unbind() {
root->untie("count");
}
void FGAIManager::update(double dt) {
// initialize these for finding nearest thermals
range_nearest = 10000.0;
strength = 0.0;
if (!enabled)
return;
_dt = dt;
ai_list_itr = ai_list.begin();
while(ai_list_itr != ai_list.end()) {
if ((*ai_list_itr)->getDie()) {
freeID((*ai_list_itr)->getID());
delete (*ai_list_itr);
--numObjects;
if ( ai_list_itr == ai_list.begin() ) {
ai_list.erase(ai_list_itr);
ai_list_itr = ai_list.begin();
continue;
} else {
ai_list.erase(ai_list_itr--);
}
} else {
fetchUserState();
if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
processThermal((FGAIThermal*)*ai_list_itr);
} else {
(*ai_list_itr)->update(_dt);
}
}
++ai_list_itr;
}
wind_from_down->setDoubleValue( strength );
}
// This function returns the next available ID
int FGAIManager::assignID() {
int maxint = 30000;
int x;
bool used;
for (x=0; x<maxint; x++) {
used = false;
id_itr = ids.begin();
while( id_itr != ids.end() ) {
if ((*id_itr) == x) used = true;
++id_itr;
}
if (!used) {
ids.push_back(x);
return x;
}
}
return -1; // no available ID's
}
// This function removes an ID from the ID array, making it
// available for assignment to another AI object
void FGAIManager::freeID( int ID ) {
id_itr = ids.begin();
while( id_itr != ids.end() ) {
if (*id_itr == ID) {
ids.erase( id_itr );
return;
}
++id_itr;
}
}
int FGAIManager::createAircraft( string model_class, string path,
double latitude, double longitude, double altitude,
double heading, double speed, double roll ) {
FGAIAircraft* ai_plane = new FGAIAircraft(this);
ai_list.push_back(ai_plane);
ai_plane->setID( assignID() );
++numObjects;
if (model_class == "light") {
ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
} else if (model_class == "ww2_fighter") {
ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
} else if (model_class == "jet_transport") {
ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
} else if (model_class == "jet_fighter") {
ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
} else {
ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
}
ai_plane->setHeading(heading);
ai_plane->setSpeed(speed);
ai_plane->setPath(path.c_str());
ai_plane->setAltitude(altitude);
ai_plane->setLongitude(longitude);
ai_plane->setLatitude(latitude);
ai_plane->setBank(roll);
ai_plane->init();
ai_plane->bind();
return ai_plane->getID();
}
int FGAIManager::createAircraft( string model_class, string path,
FGAIFlightPlan* flightplan ) {
FGAIAircraft* ai_plane = new FGAIAircraft(this);
ai_list.push_back(ai_plane);
ai_plane->setID( assignID() );
++numObjects;
if (model_class == "light") {
ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
} else if (model_class == "ww2_fighter") {
ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
} else if (model_class == "jet_transport") {
ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
} else if (model_class == "jet_fighter") {
ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
} else {
ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
}
ai_plane->setPath(path.c_str());
ai_plane->SetFlightPlan(flightplan);
ai_plane->init();
ai_plane->bind();
return ai_plane->getID();
}
int FGAIManager::createShip( string path, double latitude, double longitude,
double altitude, double heading, double speed,
double rudder ) {
FGAIShip* ai_ship = new FGAIShip(this);
ai_list.push_back(ai_ship);
ai_ship->setID( assignID() );
++numObjects;
ai_ship->setHeading(heading);
ai_ship->setSpeed(speed);
ai_ship->setPath(path.c_str());
ai_ship->setAltitude(altitude);
ai_ship->setLongitude(longitude);
ai_ship->setLatitude(latitude);
ai_ship->setBank(rudder);
ai_ship->init();
ai_ship->bind();
return ai_ship->getID();
}
int FGAIManager::createShip( string path, FGAIFlightPlan* flightplan ) {
FGAIShip* ai_ship = new FGAIShip(this);
ai_list.push_back(ai_ship);
ai_ship->setID( assignID() );
++numObjects;
ai_ship->setPath(path.c_str());
ai_ship->setFlightPlan(flightplan);
ai_ship->init();
ai_ship->bind();
return ai_ship->getID();
}
int FGAIManager::createBallistic( string path, double latitude, double longitude,
double altitude, double azimuth, double elevation,
double speed ) {
FGAIBallistic* ai_ballistic = new FGAIBallistic(this);
ai_list.push_back(ai_ballistic);
ai_ballistic->setID( assignID() );
++numObjects;
ai_ballistic->setAzimuth(azimuth);
ai_ballistic->setElevation(elevation);
ai_ballistic->setSpeed(speed);
ai_ballistic->setPath(path.c_str());
ai_ballistic->setAltitude(altitude);
ai_ballistic->setLongitude(longitude);
ai_ballistic->setLatitude(latitude);
ai_ballistic->init();
ai_ballistic->bind();
return ai_ballistic->getID();
}
int FGAIManager::createStorm( string path, double latitude, double longitude,
double altitude, double heading, double speed ) {
FGAIStorm* ai_storm = new FGAIStorm(this);
ai_list.push_back(ai_storm);
ai_storm->setID( assignID() );
++numObjects;
ai_storm->setHeading(heading);
ai_storm->setSpeed(speed);
ai_storm->setPath(path.c_str());
ai_storm->setAltitude(altitude);
ai_storm->setLongitude(longitude);
ai_storm->setLatitude(latitude);
ai_storm->init();
ai_storm->bind();
return ai_storm->getID();
}
int FGAIManager::createThermal( double latitude, double longitude,
double strength, double diameter ) {
FGAIThermal* ai_thermal = new FGAIThermal(this);
ai_list.push_back(ai_thermal);
ai_thermal->setID( assignID() );
++numObjects;
ai_thermal->setLongitude(longitude);
ai_thermal->setLatitude(latitude);
ai_thermal->setMaxStrength(strength);
ai_thermal->setDiameter(diameter / 6076.11549);
ai_thermal->init();
ai_thermal->bind();
return ai_thermal->getID();
}
void FGAIManager::destroyObject( int ID ) {
ai_list_itr = ai_list.begin();
while(ai_list_itr != ai_list.end()) {
if ((*ai_list_itr)->getID() == ID) {
freeID( ID );
delete (*ai_list_itr);
ai_list.erase(ai_list_itr);
--ai_list_itr;
--numObjects;
return;
}
++ai_list_itr;
}
}
// fetch the user's state every 10 sim cycles
void FGAIManager::fetchUserState( void ) {
++dt_count;
if (dt_count == 10) {
user_latitude = fgGetDouble("/position/latitude-deg");
user_longitude = fgGetDouble("/position/longitude-deg");
user_altitude = fgGetDouble("/position/altitude-ft");
user_heading = fgGetDouble("/orientation/heading-deg");
user_pitch = fgGetDouble("/orientation/pitch-deg");
user_yaw = fgGetDouble("/orientation/side-slip-deg");
user_speed = fgGetDouble("/velocities/uBody-fps") * 0.592484;
dt_count = 0;
}
}
// only keep the results from the nearest thermal
void FGAIManager::processThermal( FGAIThermal* thermal ) {
thermal->update(_dt);
if ( thermal->_getRange() < range_nearest ) {
range_nearest = thermal->_getRange();
strength = thermal->getStrength();
}
}
void FGAIManager::processScenario( string filename ) {
FGAIScenario* s = new FGAIScenario( filename );
FGAIFlightPlan* f;
for (int i=0;i<s->nEntries();i++) {
FGAIScenario::entry* en = s->getNextEntry();
f = 0;
if (en) {
if (en->flightplan != ""){
f = new FGAIFlightPlan( en->flightplan );
}
if (en->aitype == "aircraft"){
if (f){
createAircraft( en->aircraft_class, en->model_path, f );
} else {
createAircraft( en->aircraft_class, en->model_path, en->latitude,
en->longitude, en->altitude, en->heading,
en->speed, en->roll );
}
} else if (en->aitype == "ship"){
if (f){
createShip( en->model_path, f );
} else {
createShip( en->model_path, en->latitude,
en->longitude, en->altitude, en->heading,
en->speed, en->rudder );
}
} else if (en->aitype == "storm"){
createStorm( en->model_path, en->latitude, en->longitude,
en->altitude, en->heading, en->speed );
} else if (en->aitype == "thermal"){
createThermal( en->latitude, en->longitude, en->strength,
en->diameter );
} else if (en->aitype == "ballistic"){
createBallistic( en->model_path, en->latitude, en->longitude,
en->altitude, en->azimuth, en->elevation, en->speed );
}
}
}
delete s;
}
int FGAIManager::getNum( FGAIBase::object_type ot ) {
ai_list_iterator itr = ai_list.begin();
int count = 0;
while(itr != ai_list.end()) {
if ((*itr)->getType() == ot) {
++count;
}
++itr;
}
return count;
}
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