97 lines
3.3 KiB
C++
97 lines
3.3 KiB
C++
// FGAIGroundVehicle - FGAIShip-derived class creates an AI Ground Vehicle
|
|
// by adding a ground following utility
|
|
//
|
|
// Written by Vivian Meazza, started August 2009.
|
|
// - vivian.meazza at lineone.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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
|
|
|
#ifndef _FG_AIGROUNDVEHICLE_HXX
|
|
#define _FG_AIGROUNDVEHICLE_HXX
|
|
|
|
#include <cmath>
|
|
#include <vector>
|
|
#include <simgear/structure/SGSharedPtr.hxx>
|
|
#include <simgear/scene/material/mat.hxx>
|
|
|
|
#include "AIShip.hxx"
|
|
|
|
#include "AIManager.hxx"
|
|
#include "AIBase.hxx"
|
|
|
|
class FGAIGroundVehicle : public FGAIShip {
|
|
public:
|
|
FGAIGroundVehicle();
|
|
virtual ~FGAIGroundVehicle();
|
|
|
|
void readFromScenario(SGPropertyNode* scFileNode) override;
|
|
|
|
bool init(ModelSearchOrder searchOrder) override;
|
|
void bind() override;
|
|
void reinit() override;
|
|
void update(double dt) override;
|
|
|
|
const char* getTypeString(void) const override { return "groundvehicle"; }
|
|
|
|
private:
|
|
void setNoRoll(bool nr);
|
|
void setContactX1offset(double x1);
|
|
void setContactX2offset(double x2);
|
|
void setXOffset(double x);
|
|
void setYOffset(double y);
|
|
void setZOffset(double z);
|
|
|
|
void setPitchCoeff(double pc);
|
|
void setElevCoeff(double ec);
|
|
void setTowAngleGain(double g);
|
|
void setTowAngleLimit(double l);
|
|
void setElevation(double _elevation, double dt, double _elevation_coeff);
|
|
void setPitch(double _pitch, double dt, double _pitch_coeff);
|
|
void setTowAngle(double _relbrg, double dt, double _towangle_coeff);
|
|
void setTrainSpeed(double s, double dt, double coeff);
|
|
void setParent();
|
|
void AdvanceFP();
|
|
void setTowSpeed();
|
|
void RunGroundVehicle(double dt);
|
|
|
|
bool getGroundElev(SGGeod inpos);
|
|
bool getPitch();
|
|
|
|
SGVec3d getCartHitchPosAt(const SGVec3d& off) const;
|
|
|
|
void calcRangeBearing(double lat, double lon, double lat2, double lon2,
|
|
double &range, double &bearing) const;
|
|
|
|
SGGeod _selectedpos;
|
|
|
|
bool _solid; // if true ground is solid for FDMs
|
|
double _load_resistance; // ground load resistanc N/m^2
|
|
double _frictionFactor; // dimensionless modifier for Coefficient of Friction
|
|
double _elevation, _elevation_coeff;
|
|
double _tow_angle_gain, _tow_angle_limit;
|
|
double _ht_agl_ft;
|
|
double _contact_x1_offset, _contact_x2_offset, _contact_z_offset;
|
|
double _pitch, _pitch_coeff, _pitch_deg;
|
|
double _speed_coeff, _speed_kt;
|
|
double _x_offset, _y_offset;
|
|
double _range_ft;
|
|
double _relbrg;
|
|
double _parent_speed, _parent_x_offset, _parent_y_offset, _parent_z_offset;
|
|
double _hitch_x_offset_m, _hitch_y_offset_m, _hitch_z_offset_m;
|
|
double _dt_count, _next_run, _break_count;
|
|
|
|
};
|
|
|
|
#endif // FG_AIGROUNDVEHICLE_HXX
|