104 lines
3.4 KiB
C++
104 lines
3.4 KiB
C++
// FGAIGroundVehicle - FGAIShip-derived class creates an AI Ground Vehicle
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// by adding a ground following utility
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//
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// Written by Vivian Meazza, started August 2009.
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// - vivian.meazza at lineone.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_AIGROUNDVEHICLE_HXX
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#define _FG_AIGROUNDVEHICLE_HXX
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#include <math.h>
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#include <vector>
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#include <simgear/structure/SGSharedPtr.hxx>
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#include <simgear/scene/material/mat.hxx>
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#include "AIShip.hxx"
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#include "AIManager.hxx"
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#include "AIBase.hxx"
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class FGAIGroundVehicle : public FGAIShip {
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public:
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FGAIGroundVehicle();
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virtual ~FGAIGroundVehicle();
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virtual void readFromScenario(SGPropertyNode* scFileNode);
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virtual void bind();
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virtual void unbind();
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virtual const char* getTypeString(void) const { return "groundvehicle"; }
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bool init(bool search_in_AI_path=false);
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private:
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virtual void reinit() { init(); }
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virtual void update (double dt);
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void setNoRoll(bool nr);
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void setContactX1offset(double x1);
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void setContactX2offset(double x2);
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void setXOffset(double x);
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void setYOffset(double y);
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void setPitchCoeff(double pc);
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void setElevCoeff(double ec);
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void setTowAngleGain(double g);
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void setTowAngleLimit(double l);
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void setElevation(double _elevation, double dt, double _elevation_coeff);
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void setPitch(double _pitch, double dt, double _pitch_coeff);
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void setTowAngle(double _relbrg, double dt, double _towangle_coeff);
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void setParentName(const string& p);
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void setTrainSpeed(double s, double dt, double coeff);
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void setParent();
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void AdvanceFP();
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void setTowSpeed();
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void RunGroundVehicle(double dt);
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bool getGroundElev(SGGeod inpos);
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bool getPitch();
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SGVec3d getCartHitchPosAt(const SGVec3d& off) const;
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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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SGGeod _selectedpos;
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bool _solid; // if true ground is solid for FDMs
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double _load_resistance; // ground load resistanc N/m^2
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double _frictionFactor; // dimensionless modifier for Coefficient of Friction
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double _elevation, _elevation_coeff;
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double _tow_angle_gain, _tow_angle_limit;
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double _ht_agl_ft;
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double _contact_x1_offset, _contact_x2_offset, _contact_z_offset;
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double _pitch, _pitch_coeff, _pitch_deg;
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double _speed_coeff, _speed_kt;
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double _x_offset, _y_offset;
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double _range_ft;
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double _relbrg;
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double _parent_speed, _parent_x_offset, _parent_y_offset;
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double _dt_count, _next_run;
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const SGMaterial* _material;
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const SGPropertyNode *_selected_ac;
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string _parent;
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};
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#endif // FG_AIGROUNDVEHICLE_HXX
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