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flightgear/src/AIModel/AICarrier.cxx
ehofman 50bdf6098a Mathias Fröhlich: 
I have done some cleanup where I moved some values out of classes where they
do not belong and such stuff.
Also the fols offsets are now named in the carrier xml file with a more
verbose name (flols-pos/offset-*) than before (only offset-*).
There is a little preparation for definitions of parking positions on the
carrier which should later be used for starting flightgear directly on the
carrier.
2005-03-19 09:57:18 +00:00

497 lines
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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"
FGAICarrier::FGAICarrier(FGAIManager* mgr) : FGAIShip(mgr) {
_type_str = "carrier";
_otype = otCarrier;
}
FGAICarrier::~FGAICarrier() {
}
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<Point3D>& p) {
ppositions = p;
}
void FGAICarrier::setSign(const string& s) {
sign = s;
}
void FGAICarrier::setFlolsOffset(const Point3D& off) {
flols_off = off;
}
void FGAICarrier::getVelocityWrtEarth(sgVec3 v) {
sgCopyVec3(v, vel_wrt_earth );
}
void FGAICarrier::update(double dt) {
UpdateFlols(dt);
FGAIShip::update(dt);
// 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);
sgSetVec3( 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 );
}
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);
return true;
}
void FGAICarrier::bind() {
FGAIShip::bind();
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->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("sign", sign.c_str());
}
void FGAICarrier::unbind() {
FGAIShip::unbind();
props->untie("controls/flols/source-lights");
props->untie("controls/flols/distance-m");
props->untie("controls/flols/angle-degs");
}
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( double dt) {
float trans[3][3];
float in[3];
float out[3];
float cosRx, sinRx;
float cosRy, sinRy;
float cosRz, sinRz;
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();
// pre-process the trig functions
cosRx = cos(roll * SG_DEGREES_TO_RADIANS);
sinRx = sin(roll * SG_DEGREES_TO_RADIANS);
cosRy = cos(pitch * SG_DEGREES_TO_RADIANS);
sinRy = sin(pitch * SG_DEGREES_TO_RADIANS);
cosRz = cos(hdg * SG_DEGREES_TO_RADIANS);
sinRz = sin(hdg * SG_DEGREES_TO_RADIANS);
// set up the transform matrix
trans[0][0] = cosRy * cosRz;
trans[0][1] = -1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
trans[0][2] = sinRx * sinRz + cosRx * sinRy * cosRz;
trans[1][0] = cosRy * sinRz;
trans[1][1] = cosRx * cosRz + sinRx * sinRy * sinRz;
trans[1][2] = -1 * sinRx * cosRx + cosRx * sinRy * sinRz;
trans[2][0] = -1 * sinRy;
trans[2][1] = sinRx * cosRy;
trans[2][2] = cosRx * cosRy;
// 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
int FGAICarrierHardware::unique_id = 1;
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