311 lines
10 KiB
C++
311 lines
10 KiB
C++
// FGAIBase - 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., 675 Mass Ave, Cambridge, MA 02139, USA.
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <simgear/compiler.h>
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#include STL_STRING
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#include <plib/sg.h>
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#include <plib/ssg.h>
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#include <simgear/math/point3d.hxx>
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#include <simgear/misc/sg_path.hxx>
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#include <simgear/scene/model/location.hxx>
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#include <simgear/scene/model/model.hxx>
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#include <simgear/debug/logstream.hxx>
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#include <simgear/props/props.hxx>
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#include <Main/globals.hxx>
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#include <Scenery/scenery.hxx>
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#include "AIBase.hxx"
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#include "AIManager.hxx"
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FGAIBase::FGAIBase() {
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_type_str = "model";
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tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
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bearing = elevation = range = rdot = 0.0;
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x_shift = y_shift = rotation = 0.0;
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in_range = false;
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invisible = true;
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no_roll = true;
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life = 900;
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model_path = "";
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model = 0;
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_otype = otNull;
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index = 0;
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fp = (FGAIFlightPlan*)0;
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}
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FGAIBase::~FGAIBase() {
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globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
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// unbind();
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SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
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root->removeChild(_type_str.c_str(), index);
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if (fp) delete fp;
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}
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void FGAIBase::update(double dt) {
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ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES);
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ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES);
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}
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void FGAIBase::Transform() {
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if (!invisible) {
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aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
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if (no_roll) {
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aip.setOrientation(0.0, pitch, hdg);
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} else {
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aip.setOrientation(roll, pitch, hdg);
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}
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aip.update( globals->get_scenery()->get_center() );
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}
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}
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bool FGAIBase::init() {
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SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
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index = manager->getNum(_otype) - 1;
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props = root->getNode(_type_str.c_str(), index, true);
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if (model_path != "") {
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model = sgLoad3DModel( globals->get_fg_root(),
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model_path.c_str(),
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props,
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globals->get_sim_time_sec() );
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}
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if (model) {
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aip.init( model );
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aip.setVisible(true);
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invisible = false;
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globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
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} else {
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if (model_path != "") {
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SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model.");
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}
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}
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setDie(false);
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return true;
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}
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bool FGAIBase::isa( object_type otype ) {
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if ( otype == _otype ) { return true; }
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else { return false; }
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}
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void FGAIBase::bind() {
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props->tie("id", SGRawValuePointer<int>(&id));
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props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
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props->tie("velocities/vertical-speed-fps",
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SGRawValueMethods<FGAIBase,double>(*this,
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&FGAIBase::_getVS_fps,
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&FGAIBase::_setVS_fps));
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props->tie("position/altitude-ft",
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SGRawValueMethods<FGAIBase,double>(*this,
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&FGAIBase::_getAltitude,
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&FGAIBase::_setAltitude));
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props->tie("position/latitude-deg",
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SGRawValueMethods<FGAIBase,double>(*this,
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&FGAIBase::_getLatitude,
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&FGAIBase::_setLatitude));
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props->tie("position/longitude-deg",
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SGRawValueMethods<FGAIBase,double>(*this,
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&FGAIBase::_getLongitude,
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&FGAIBase::_setLongitude));
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props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
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props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
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props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
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props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
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props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
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props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
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props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
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props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
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props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
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props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
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props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
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props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
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props->tie("controls/lighting/nav-lights",
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SGRawValueFunctions<bool>(_isNight));
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props->setBoolValue("controls/lighting/beacon", true);
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props->setBoolValue("controls/lighting/strobe", true);
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}
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void FGAIBase::unbind() {
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props->untie("id");
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props->untie("velocities/true-airspeed-kt");
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props->untie("velocities/vertical-speed-fps");
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props->untie("position/altitude-ft");
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props->untie("position/latitude-deg");
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props->untie("position/longitude-deg");
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props->untie("orientation/pitch-deg");
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props->untie("orientation/roll-deg");
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props->untie("orientation/true-heading-deg");
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props->untie("radar/in-range");
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props->untie("radar/bearing-deg");
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props->untie("radar/elevation-deg");
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props->untie("radar/range-nm");
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props->untie("radar/h-offset");
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props->untie("radar/v-offset");
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props->untie("radar/x-shift");
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props->untie("radar/y-shift");
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props->untie("radar/rotation");
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props->untie("controls/lighting/nav-lights");
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}
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double FGAIBase::UpdateRadar(FGAIManager* manager)
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{
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double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
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radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
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radar_range_ft2 *= radar_range_ft2;
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double user_latitude = manager->get_user_latitude();
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double user_longitude = manager->get_user_longitude();
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double lat_range = fabs(pos.lat() - user_latitude) * ft_per_deg_lat;
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double lon_range = fabs(pos.lon() - user_longitude) * ft_per_deg_lon;
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double range_ft2 = lat_range*lat_range + lon_range*lon_range;
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//
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// Test whether the target is within radar range.
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//
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in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
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if ( in_range )
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{
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props->setBoolValue("radar/in-range", true);
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// copy values from the AIManager
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double user_altitude = manager->get_user_altitude();
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double user_heading = manager->get_user_heading();
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double user_pitch = manager->get_user_pitch();
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double user_yaw = manager->get_user_yaw();
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double user_speed = manager->get_user_speed();
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// calculate range to target in feet and nautical miles
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double range_ft = sqrt( range_ft2 );
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range = range_ft / 6076.11549;
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// calculate bearing to target
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if (pos.lat() >= user_latitude) {
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bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
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if (pos.lon() >= user_longitude) {
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bearing = 90.0 - bearing;
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} else {
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bearing = 270.0 + bearing;
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}
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} else {
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bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
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if (pos.lon() >= user_longitude) {
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bearing = 180.0 - bearing;
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} else {
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bearing = 180.0 + bearing;
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}
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}
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// calculate look left/right to target, without yaw correction
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horiz_offset = bearing - user_heading;
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if (horiz_offset > 180.0) horiz_offset -= 360.0;
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if (horiz_offset < -180.0) horiz_offset += 360.0;
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// calculate elevation to target
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elevation = atan2( altitude * SG_METER_TO_FEET - user_altitude, range_ft )
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* SG_RADIANS_TO_DEGREES;
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// calculate look up/down to target
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vert_offset = elevation + user_pitch;
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/* this calculation needs to be fixed, but it isn't important anyway
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// calculate range rate
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double recip_bearing = bearing + 180.0;
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if (recip_bearing > 360.0) recip_bearing -= 360.0;
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double my_horiz_offset = recip_bearing - hdg;
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if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
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if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
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rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
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+(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
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*/
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// now correct look left/right for yaw
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horiz_offset += user_yaw;
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// calculate values for radar display
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y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
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x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
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rotation = hdg - user_heading;
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if (rotation < 0.0) rotation += 360.0;
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}
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return range_ft2;
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}
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/*
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* getters and Setters
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*/
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void FGAIBase::_setLongitude( double longitude ) {
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pos.setlon(longitude);
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}
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void FGAIBase::_setLatitude ( double latitude ) {
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pos.setlat(latitude);
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}
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double FGAIBase::_getLongitude() const {
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return pos.lon();
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}
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double FGAIBase::_getLatitude () const {
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return pos.lat();
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}
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double FGAIBase::_getRdot() const {
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return rdot;
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}
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double FGAIBase::_getVS_fps() const {
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return vs*60.0;
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}
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void FGAIBase::_setVS_fps( double _vs ) {
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vs = _vs/60.0;
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}
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double FGAIBase::_getAltitude() const {
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return altitude;
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}
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void FGAIBase::_setAltitude( double _alt ) {
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setAltitude( _alt );
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}
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bool FGAIBase::_isNight() {
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return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
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}
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