289 lines
7.7 KiB
C++
289 lines
7.7 KiB
C++
// FGAIShip - FGAIBase-derived class creates an AI ship
|
|
//
|
|
// 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
|
|
|
#ifdef HAVE_CONFIG_H
|
|
# include <config.h>
|
|
#endif
|
|
|
|
#include <simgear/math/point3d.hxx>
|
|
#include <math.h>
|
|
|
|
#include "AIFlightPlan.hxx"
|
|
#include "AIShip.hxx"
|
|
|
|
|
|
FGAIShip::FGAIShip(object_type ot) : FGAIBase(ot) {
|
|
}
|
|
|
|
FGAIShip::~FGAIShip() {
|
|
}
|
|
|
|
void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
|
|
if (!scFileNode)
|
|
return;
|
|
|
|
FGAIBase::readFromScenario(scFileNode);
|
|
|
|
setRudder(scFileNode->getFloatValue("rudder", 0.0));
|
|
setName(scFileNode->getStringValue("name", "Titanic"));
|
|
|
|
std::string flightplan = scFileNode->getStringValue("flightplan");
|
|
if (!flightplan.empty()){
|
|
FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
|
|
setFlightPlan(fp);
|
|
}
|
|
}
|
|
|
|
bool FGAIShip::init(bool search_in_AI_path) {
|
|
|
|
hdg_lock = false;
|
|
rudder = 0.0;
|
|
no_roll = false;
|
|
|
|
rudder_constant = 0.5;
|
|
roll_constant = 0.001;
|
|
speed_constant = 0.05;
|
|
hdg_constant = 0.01;
|
|
|
|
return FGAIBase::init(search_in_AI_path);
|
|
}
|
|
|
|
void FGAIShip::bind() {
|
|
FGAIBase::bind();
|
|
|
|
props->tie("surface-positions/rudder-pos-deg",
|
|
SGRawValuePointer<float>(&rudder));
|
|
props->tie("controls/heading-lock",
|
|
SGRawValuePointer<bool>(&hdg_lock));
|
|
props->tie("controls/tgt-speed-kts",
|
|
SGRawValuePointer<double>(&tgt_speed));
|
|
props->tie("controls/tgt-heading-degs",
|
|
SGRawValuePointer<double>(&tgt_heading));
|
|
props->tie("controls/constants/rudder",
|
|
SGRawValuePointer<double>(&rudder_constant));
|
|
props->tie("controls/constants/roll",
|
|
SGRawValuePointer<double>(&roll_constant));
|
|
props->tie("controls/constants/rudder",
|
|
SGRawValuePointer<double>(&rudder_constant));
|
|
props->tie("controls/constants/speed",
|
|
SGRawValuePointer<double>(&speed_constant));
|
|
|
|
props->setStringValue("name", name.c_str());
|
|
}
|
|
|
|
void FGAIShip::unbind() {
|
|
FGAIBase::unbind();
|
|
props->untie("surface-positions/rudder-pos-deg");
|
|
props->untie("controls/heading-lock");
|
|
props->untie("controls/tgt-speed-kts");
|
|
props->untie("controls/tgt-heading-degs");
|
|
props->untie("controls/constants/roll");
|
|
props->untie("controls/constants/rudder");
|
|
props->untie("controls/constants/speed");
|
|
|
|
}
|
|
|
|
void FGAIShip::update(double dt) {
|
|
|
|
FGAIBase::update(dt);
|
|
Run(dt);
|
|
Transform();
|
|
}
|
|
|
|
|
|
|
|
void FGAIShip::Run(double dt) {
|
|
|
|
if (fp) ProcessFlightPlan(dt);
|
|
|
|
double sp_turn_radius_ft;
|
|
double rd_turn_radius_ft;
|
|
double speed_north_deg_sec;
|
|
double speed_east_deg_sec;
|
|
double dist_covered_ft;
|
|
double alpha;
|
|
double rudder_limit;
|
|
double raw_roll;
|
|
|
|
// adjust speed
|
|
double speed_diff = tgt_speed - speed;
|
|
if (fabs(speed_diff) > 0.1) {
|
|
if (speed_diff > 0.0) speed += speed_constant * dt;
|
|
if (speed_diff < 0.0) speed -= speed_constant * dt;
|
|
}
|
|
|
|
// convert speed to degrees per second
|
|
speed_north_deg_sec = cos( hdg / SGD_RADIANS_TO_DEGREES )
|
|
* speed * 1.686 / ft_per_deg_lat;
|
|
speed_east_deg_sec = sin( hdg / SGD_RADIANS_TO_DEGREES )
|
|
* speed * 1.686 / ft_per_deg_lon;
|
|
|
|
// set new position
|
|
pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
|
|
pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
|
|
|
|
|
|
// adjust heading based on current rudder angle
|
|
if (rudder <= -0.25 || rudder >= 0.25) {
|
|
/* turn_radius_ft = 0.088362 * speed * speed
|
|
/ tan( fabs(rudder) / SG_RADIANS_TO_DEGREES );
|
|
turn_circum_ft = SGD_2PI * turn_radius_ft;
|
|
dist_covered_ft = speed * 1.686 * dt;
|
|
alpha = dist_covered_ft / turn_circum_ft * 360.0;*/
|
|
|
|
if (turn_radius_ft <= 0) turn_radius_ft = 0; // don't allow nonsense values
|
|
if (rudder > 45) rudder = 45;
|
|
if (rudder < -45) rudder = -45;
|
|
|
|
// adjust turn radius for speed. The equation is very approximate.
|
|
sp_turn_radius_ft = 10 * pow ((speed - 15),2) + turn_radius_ft;
|
|
// cout << " speed turn radius " << sp_turn_radius_ft ;
|
|
|
|
// adjust turn radius for rudder angle. The equation is even more approximate.
|
|
float a = 19;
|
|
float b = -0.2485;
|
|
float c = 0.543;
|
|
|
|
rd_turn_radius_ft = (a * exp(b * fabs(rudder)) + c) * sp_turn_radius_ft;
|
|
|
|
// cout <<" rudder turn radius " << rd_turn_radius_ft << endl;
|
|
|
|
// calculate the angle, alpha, subtended by the arc traversed in time dt
|
|
alpha = ((speed * 1.686 * dt)/rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES;
|
|
|
|
|
|
// make sure that alpha is applied in the right direction
|
|
hdg += alpha * sign( rudder );
|
|
if ( hdg > 360.0 ) hdg -= 360.0;
|
|
if ( hdg < 0.0) hdg += 360.0;
|
|
|
|
//adjust roll for rudder angle and speed. Another bit of voodoo
|
|
raw_roll = -0.0166667 * speed * rudder;
|
|
}
|
|
else
|
|
{
|
|
// rudder angle is 0
|
|
raw_roll = 0;
|
|
// cout << " roll "<< roll << endl;
|
|
}
|
|
|
|
//low pass filter
|
|
roll = (raw_roll * roll_constant) + (roll * (1 - roll_constant));
|
|
|
|
/*cout << " rudder: " << rudder << " raw roll: "<< raw_roll<<" roll: " << roll ;
|
|
cout << " hdg: " << hdg << endl ;*/
|
|
|
|
// adjust target rudder angle if heading lock engaged
|
|
if (hdg_lock) {
|
|
double rudder_sense = 0.0;
|
|
double diff = fabs(hdg - tgt_heading);
|
|
if (diff > 180) diff = fabs(diff - 360);
|
|
double sum = hdg + diff;
|
|
if (sum > 360.0) sum -= 360.0;
|
|
if (fabs(sum - tgt_heading) < 1.0) {
|
|
rudder_sense = 1.0;
|
|
} else {
|
|
rudder_sense = -1.0;
|
|
}
|
|
if (diff < 15){
|
|
tgt_rudder = diff * rudder_sense;
|
|
}
|
|
else
|
|
{
|
|
tgt_rudder = 45 * rudder_sense;
|
|
}
|
|
}
|
|
|
|
// adjust rudder angle
|
|
double rudder_diff = tgt_rudder - rudder;
|
|
// set the rudder limit by speed
|
|
if (speed <= 40 ){
|
|
rudder_limit = (-0.825 * speed) + 35;
|
|
}else{
|
|
rudder_limit = 2;
|
|
}
|
|
|
|
if (fabs(rudder_diff) > 0.1) {
|
|
if (rudder_diff > 0.0){
|
|
rudder += rudder_constant * dt;
|
|
if (rudder > rudder_limit) rudder = rudder_limit;// apply the rudder limit
|
|
} else if (rudder_diff < 0.0){
|
|
rudder -= rudder_constant * dt;
|
|
if (rudder < -rudder_limit) rudder = -rudder_limit;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
}//end function
|
|
|
|
|
|
void FGAIShip::AccelTo(double speed) {
|
|
tgt_speed = speed;
|
|
}
|
|
|
|
void FGAIShip::PitchTo(double angle) {
|
|
tgt_pitch = angle;
|
|
}
|
|
|
|
|
|
void FGAIShip::RollTo(double angle) {
|
|
tgt_roll = angle;
|
|
}
|
|
|
|
|
|
void FGAIShip::YawTo(double angle) {
|
|
}
|
|
|
|
|
|
void FGAIShip::ClimbTo(double altitude) {
|
|
}
|
|
|
|
|
|
void FGAIShip::TurnTo(double heading) {
|
|
tgt_heading = heading;
|
|
hdg_lock = true;
|
|
}
|
|
|
|
|
|
double FGAIShip::sign(double x) {
|
|
|
|
if ( x < 0.0 ) { return -1.0; }
|
|
else { return 1.0; }
|
|
}
|
|
|
|
void FGAIShip::setFlightPlan(FGAIFlightPlan* f) {
|
|
fp = f;
|
|
}
|
|
|
|
void FGAIShip::setName(const string& n) {
|
|
name = n;
|
|
}
|
|
|
|
void FGAIShip::ProcessFlightPlan(double dt) {
|
|
// not implemented yet
|
|
}
|
|
|
|
void FGAIShip::setRudder(float r) {
|
|
rudder = r;
|
|
}
|
|
|
|
void FGAIShip::setRoll(double rl) {
|
|
roll = rl;
|
|
}
|