440 lines
12 KiB
C++
440 lines
12 KiB
C++
// FGAIBase.hxx - abstract base class for AI objects
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// Written by David Culp, started Nov 2003, based on
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// David Luff's FGAIEntity class.
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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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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#ifndef _FG_AIBASE_HXX
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#define _FG_AIBASE_HXX
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#include <string>
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#include <list>
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#include <simgear/constants.h>
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#include <simgear/math/SGMath.hxx>
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#include <simgear/scene/model/placement.hxx>
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#include <simgear/misc/sg_path.hxx>
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#include <simgear/structure/SGSharedPtr.hxx>
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#include <simgear/structure/SGReferenced.hxx>
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#include <simgear/sg_inlines.h>
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#include <simgear/math/sg_geodesy.hxx>
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#include <Main/fg_props.hxx>
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using std::string;
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using std::list;
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class SGMaterial;
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class FGAIManager;
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class FGAIFlightPlan;
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class FGAIBase : public SGReferenced {
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public:
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enum object_type { otNull = 0, otAircraft, otShip, otCarrier, otBallistic,
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otRocket, otStorm, otThermal, otStatic, otWingman, otGroundVehicle,
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otEscort, otMultiplayer,
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MAX_OBJECTS }; // Needs to be last!!!
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FGAIBase(object_type ot, bool enableHot);
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virtual ~FGAIBase();
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virtual void readFromScenario(SGPropertyNode* scFileNode);
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virtual bool init(bool search_in_AI_path=false);
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virtual void initModel(osg::Node *node);
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virtual void update(double dt);
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virtual void bind();
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virtual void unbind();
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virtual void reinit() {}
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void updateLOD();
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void setManager(FGAIManager* mgr, SGPropertyNode* p);
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void setPath( const char* model );
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void setSMPath( const string& p );
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void setCallSign(const string& );
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void setSpeed( double speed_KTAS );
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void setAltitude( double altitude_ft );
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void setAltitudeAGL( double altitude_agl_ft );
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void setHeading( double heading );
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void setLatitude( double latitude );
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void setLongitude( double longitude );
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void setBank( double bank );
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void setPitch( double newpitch );
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void setRadius ( double radius );
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void setXoffset( double x_offset );
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void setYoffset( double y_offset );
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void setZoffset( double z_offset );
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void setPitchoffset( double x_offset );
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void setRolloffset( double y_offset );
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void setYawoffset( double z_offset );
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void setServiceable ( bool serviceable );
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void setDie( bool die );
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void setCollisionData( bool i, double lat, double lon, double elev );
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void setImpactData( bool d );
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void setImpactLat( double lat );
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void setImpactLon( double lon );
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void setImpactElev( double e );
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void setParentName(const string& p);
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void setName(const string& n);
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void setMaxSpeed(double kts);
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void calcRangeBearing(double lat, double lon, double lat2, double lon2,
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double &range, double &bearing) const;
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double calcRelBearingDeg(double bearing, double heading);
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double calcTrueBearingDeg(double bearing, double heading);
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double calcRecipBearingDeg(double bearing);
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bool setParentNode();
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int getID() const;
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int _getSubID() const;
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bool getDie();
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SGVec3d getCartPosAt(const SGVec3d& off) const;
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SGVec3d getCartPos() const;
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bool getGroundElevationM(const SGGeod& pos, double& elev,
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const SGMaterial** material) const;
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double _elevation_m;
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const SGMaterial* _material;
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double _getCartPosX() const;
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double _getCartPosY() const;
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double _getCartPosZ() const;
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double _x_offset;
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double _y_offset;
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double _z_offset;
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double _pitch_offset;
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double _roll_offset;
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double _yaw_offset;
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double _max_speed;
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string _path;
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string _callsign;
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string _submodel;
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string _name;
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string _parent;
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SGGeod userpos;
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protected:
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SGPropertyNode_ptr _selected_ac;
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SGPropertyNode_ptr props;
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SGPropertyNode_ptr trigger_node;
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SGPropertyNode_ptr model_removed; // where to report model removal
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FGAIManager* manager;
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// these describe the model's actual state
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SGGeod pos; // WGS84 lat & lon in degrees, elev above sea-level in meters
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double hdg; // True heading in degrees
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double roll; // degrees, left is negative
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double pitch; // degrees, nose-down is negative
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double speed; // knots true airspeed
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double altitude_ft; // feet above sea level
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double vs; // vertical speed, feet per minute
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double speed_north_deg_sec;
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double speed_east_deg_sec;
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double turn_radius_ft; // turn radius ft at 15 kts rudder angle 15 degrees
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double altitude_agl_ft;
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double ft_per_deg_lon;
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double ft_per_deg_lat;
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// these describe the model's desired state
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double tgt_heading; // target heading, degrees true
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double tgt_altitude_ft; // target altitude, *feet* above sea level
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double tgt_speed; // target speed, KTAS
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double tgt_roll;
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double tgt_pitch;
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double tgt_yaw;
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double tgt_vs;
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// these describe radar information for the user
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bool in_range; // true if in range of the radar, otherwise false
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double bearing; // true bearing from user to this model
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double elevation; // elevation in degrees from user to this model
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double range; // range from user to this model, nm
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double rdot; // range rate, in knots
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double horiz_offset; // look left/right from user to me, deg
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double vert_offset; // look up/down from user to me, deg
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double x_shift; // value used by radar display instrument
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double y_shift; // value used by radar display instrument
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double rotation; // value used by radar display instrument
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double ht_diff; // value used by radar display instrument
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string model_path; //Path to the 3D model
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SGModelPlacement aip;
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bool delete_me;
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bool invisible;
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bool no_roll;
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bool serviceable;
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bool _installed;
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int _subID;
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double life;
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FGAIFlightPlan *fp;
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bool _impact_reported;
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bool _collision_reported;
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bool _expiry_reported;
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double _impact_lat;
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double _impact_lon;
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double _impact_elev;
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double _impact_hdg;
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double _impact_pitch;
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double _impact_roll;
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double _impact_speed;
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void Transform();
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void CalculateMach();
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double UpdateRadar(FGAIManager* manager);
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static int _newAIModelID();
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private:
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int _refID;
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object_type _otype;
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bool _initialized;
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osg::ref_ptr<osg::LOD> _model; //The 3D model LOD object
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public:
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object_type getType();
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virtual const char* getTypeString(void) const { return "null"; }
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bool isa( object_type otype );
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void _setVS_fps( double _vs );
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void _setAltitude( double _alt );
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void _setLongitude( double longitude );
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void _setLatitude ( double latitude );
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void _setSubID( int s );
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void _setUserPos();
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double _getAltitudeAGL(SGGeod inpos, double start);
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double _getVS_fps() const;
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double _getAltitude() const;
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double _getLongitude() const;
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double _getLatitude() const;
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double _getElevationFt() const;
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double _getRdot() const;
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double _getH_offset() const;
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double _getV_offset() const;
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double _getX_shift() const;
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double _getY_shift() const;
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double _getRotation() const;
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double _getSpeed() const;
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double _getRoll() const;
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double _getPitch() const;
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double _getHeading() const;
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double _get_speed_east_fps() const;
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double _get_speed_north_fps() const;
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double _get_SubPath() const;
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double _getImpactLat() const;
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double _getImpactLon() const;
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double _getImpactElevFt() const;
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double _getImpactHdg() const;
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double _getImpactPitch() const;
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double _getImpactRoll() const;
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double _getImpactSpeed() const;
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double _getXOffset() const;
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double _getYOffset() const;
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double _getZOffset() const;
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//unsigned int _getCount() const;
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bool _getServiceable() const;
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bool _getFirstTime() const;
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bool _getImpact();
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bool _getImpactData();
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bool _getCollisionData();
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bool _getExpiryData();
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SGPropertyNode* _getProps() const;
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const char* _getPath() const;
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const char* _getSMPath() const;
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const char* _getCallsign() const;
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const char* _getTriggerNode() const;
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const char* _getName() const;
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const char* _getSubmodel() const;
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// These are used in the Mach number calculations
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double rho;
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double T; // temperature, degs farenheit
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double p; // pressure lbs/sq ft
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double a; // speed of sound at altitude (ft/s)
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double Mach; // Mach number
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static const double e;
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static const double lbs_to_slugs;
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inline double _getRange() { return range; };
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inline double _getBearing() { return bearing; };
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static bool _isNight();
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string & getCallSign();
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};
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inline void FGAIBase::setManager(FGAIManager* mgr, SGPropertyNode* p) {
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manager = mgr;
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props = p;
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}
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inline void FGAIBase::setPath(const char* model ) {
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model_path.append(model);
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}
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inline void FGAIBase::setSMPath(const string& p) {
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_path = p;
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}
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inline void FGAIBase::setServiceable(bool s) {
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serviceable = s;
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}
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inline void FGAIBase::setSpeed( double speed_KTAS ) {
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speed = tgt_speed = speed_KTAS;
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}
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inline void FGAIBase::setRadius( double radius ) {
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turn_radius_ft = radius;
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}
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inline void FGAIBase::setHeading( double heading ) {
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hdg = tgt_heading = heading;
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}
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inline void FGAIBase::setAltitude( double alt_ft ) {
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altitude_ft = tgt_altitude_ft = alt_ft;
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pos.setElevationFt(altitude_ft);
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}
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inline void FGAIBase::setAltitudeAGL( double alt_ft ) {
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altitude_agl_ft = alt_ft;
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}
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inline void FGAIBase::setBank( double bank ) {
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roll = tgt_roll = bank;
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no_roll = false;
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}
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inline void FGAIBase::setPitch( double newpitch ) {
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pitch = tgt_pitch = newpitch;
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}
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inline void FGAIBase::setLongitude( double longitude ) {
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pos.setLongitudeDeg( longitude );
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}
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inline void FGAIBase::setLatitude ( double latitude ) {
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pos.setLatitudeDeg( latitude );
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}
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inline void FGAIBase::setCallSign(const string& s) {
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_callsign = s;
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}
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inline string& FGAIBase::getCallSign() {
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return _callsign;
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}
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inline void FGAIBase::setXoffset(double x) {
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_x_offset = x;
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}
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inline void FGAIBase::setYoffset(double y) {
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_y_offset = y;
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}
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inline void FGAIBase::setZoffset(double z) {
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_z_offset = z;
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}
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inline void FGAIBase::setPitchoffset(double p) {
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_pitch_offset = p;
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}
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inline void FGAIBase::setRolloffset(double r) {
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_roll_offset = r;
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}
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inline void FGAIBase::setYawoffset(double y) {
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_yaw_offset = y;
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}
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inline void FGAIBase::setParentName(const string& p) {
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_parent = p;
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}
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inline void FGAIBase::setName(const string& n) {
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_name = n;
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}
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inline void FGAIBase::setDie( bool die ) { delete_me = die; }
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inline bool FGAIBase::getDie() { return delete_me; }
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inline FGAIBase::object_type FGAIBase::getType() { return _otype; }
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inline void FGAIBase::calcRangeBearing(double lat, double lon, double lat2, double lon2,
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double &range, double &bearing) const
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{
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// calculate the bearing and range of the second pos from the first
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double az2, distance;
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geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
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range = distance * SG_METER_TO_NM;
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}
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inline double FGAIBase::calcRelBearingDeg(double bearing, double heading){
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double angle = bearing - heading;
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SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
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return angle;
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}
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inline double FGAIBase::calcTrueBearingDeg(double bearing, double heading){
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double angle = bearing + heading;
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SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
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return angle;
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}
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inline double FGAIBase::calcRecipBearingDeg(double bearing){
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double angle = bearing - 180;
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SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
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return angle;
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}
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inline void FGAIBase::setMaxSpeed(double m) {
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_max_speed = m;
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}
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#endif // _FG_AIBASE_HXX
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