104 lines
3.9 KiB
C++
104 lines
3.9 KiB
C++
// Copyright (C) 2009 - 2012 Mathias Froehlich
|
|
//
|
|
// 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 "AIPhysics.hxx"
|
|
|
|
#include <simgear/math/SGGeometry.hxx>
|
|
#include "AIEnvironment.hxx"
|
|
|
|
namespace fgai {
|
|
|
|
AIPhysics::AIPhysics(const AIPhysics& physics) :
|
|
_location(physics._location),
|
|
_linearBodyVelocity(physics._linearBodyVelocity),
|
|
_angularBodyVelocity(physics._angularBodyVelocity),
|
|
_geodPosition(physics._geodPosition),
|
|
_horizontalLocalOrientation(physics._horizontalLocalOrientation)
|
|
{
|
|
}
|
|
|
|
AIPhysics::AIPhysics(const SGLocationd& location, const SGVec3d& linearBodyVelocity,
|
|
const SGVec3d& angularBodyVelocity) :
|
|
_location(location),
|
|
_linearBodyVelocity(linearBodyVelocity),
|
|
_angularBodyVelocity(angularBodyVelocity)
|
|
{
|
|
_geodPosition = SGGeod::fromCart(_location.getPosition());
|
|
_horizontalLocalOrientation = SGQuatd::fromLonLat(_geodPosition);
|
|
}
|
|
|
|
AIPhysics::~AIPhysics()
|
|
{
|
|
}
|
|
|
|
void
|
|
AIPhysics::update(AIObject& object, const SGTimeStamp& dt)
|
|
{
|
|
advanceByBodyVelocity(dt.toSecs(), _linearBodyVelocity, _angularBodyVelocity);
|
|
}
|
|
|
|
void
|
|
AIPhysics::advanceByBodyAcceleration(const double& dt,
|
|
const SGVec3d& linearAcceleration,
|
|
const SGVec3d& angularAcceleration)
|
|
{
|
|
// The current linear and angular velocity
|
|
SGVec3d linearVelocity = getLinearBodyVelocity();
|
|
SGVec3d angularVelocity = getAngularBodyVelocity();
|
|
|
|
// an euler step for the velocities, the positions get upgraded below
|
|
linearVelocity += dt*linearAcceleration;
|
|
angularVelocity += dt*angularAcceleration;
|
|
|
|
advanceByBodyVelocity(dt, linearVelocity, angularVelocity);
|
|
}
|
|
|
|
void
|
|
AIPhysics::advanceByBodyVelocity(const double& dt,
|
|
const SGVec3d& linearVelocity,
|
|
const SGVec3d& angularVelocity)
|
|
{
|
|
// Do an euler step with the derivatives at mSimTime
|
|
_location.eulerStepBodyVelocities(dt, _linearBodyVelocity, _angularBodyVelocity);
|
|
_geodPosition = SGGeod::fromCart(_location.getPosition());
|
|
_horizontalLocalOrientation = SGQuatd::fromLonLat(_geodPosition);
|
|
|
|
// Store the new velocities for the next interval at mSimTim + dt
|
|
_linearBodyVelocity = linearVelocity;
|
|
_angularBodyVelocity = angularVelocity;
|
|
}
|
|
|
|
void
|
|
AIPhysics::advanceToLocation(const double& dt, const SGLocationd& location)
|
|
{
|
|
// At first we need to move along with the announced velocities, so:
|
|
// Do an euler step with the derivatives at mSimTime.
|
|
_location.eulerStepBodyVelocities(dt, _linearBodyVelocity, _angularBodyVelocity);
|
|
_geodPosition = SGGeod::fromCart(_location.getPosition());
|
|
_horizontalLocalOrientation = SGQuatd::fromLonLat(_geodPosition);
|
|
|
|
// Now compute velocities that will move to the desired position, orientation if the next
|
|
// advance method is called with the same dt value
|
|
SGVec3d positionDifference = location.getPosition() - _location.getPosition();
|
|
_linearBodyVelocity = (1/dt)*_location.getOrientation().transform(positionDifference);
|
|
_angularBodyVelocity = SGQuatd::forwardDifferenceVelocity(_location.getOrientation(), location.getOrientation(), dt);
|
|
}
|
|
|
|
} // namespace fgai
|