1 // FGAIBase - abstract base class for AI objects
2 // Written by David Culp, started Nov 2003, based on
3 // David Luff's FGAIEntity class.
4 // - davidculp2@comcast.net
6 // This program is free software; you can redistribute it and/or
7 // modify it under the terms of the GNU General Public License as
8 // published by the Free Software Foundation; either version 2 of the
9 // License, or (at your option) any later version.
11 // This program is distributed in the hope that it will be useful, but
12 // WITHOUT ANY WARRANTY; without even the implied warranty of
13 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Public License for more details.
16 // You should have received a copy of the GNU General Public License
17 // along with this program; if not, write to the Free Software
18 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
25 #include <simgear/compiler.h>
32 #include <simgear/math/point3d.hxx>
33 #include <simgear/misc/sg_path.hxx>
34 #include <simgear/scene/model/location.hxx>
35 #include <simgear/scene/model/model.hxx>
36 #include <simgear/debug/logstream.hxx>
37 #include <simgear/props/props.hxx>
39 #include <Main/globals.hxx>
40 #include <Scenery/scenery.hxx>
44 #include "AIManager.hxx"
47 const double FGAIBase::rho = 0.023780; // sea level air density slugs/ft3
48 const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
58 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
59 bearing = elevation = range = rdot = 0.0;
60 x_shift = y_shift = rotation = 0.0;
71 FGAIBase::~FGAIBase() {
72 globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
74 SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
75 root->removeChild(_type_str.c_str(), index);
80 void FGAIBase::update(double dt) {
81 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES);
82 ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES);
86 void FGAIBase::Transform() {
88 aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
90 aip.setOrientation(0.0, pitch, hdg);
92 aip.setOrientation(roll, pitch, hdg);
94 aip.update( globals->get_scenery()->get_center() );
99 bool FGAIBase::init() {
101 SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
103 index = manager->getNum(_otype) - 1;
104 props = root->getNode(_type_str.c_str(), index, true);
106 if (model_path != "") {
107 model = sgLoad3DModel( globals->get_fg_root(),
110 globals->get_sim_time_sec() );
114 aip.setVisible(true);
116 globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
118 if (model_path != "") {
119 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model.");
128 bool FGAIBase::isa( object_type otype ) {
129 if ( otype == _otype ) { return true; }
130 else { return false; }
134 void FGAIBase::bind() {
135 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
137 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
138 props->tie("velocities/vertical-speed-fps",
139 SGRawValueMethods<FGAIBase,double>(*this,
140 &FGAIBase::_getVS_fps,
141 &FGAIBase::_setVS_fps));
143 props->tie("position/altitude-ft",
144 SGRawValueMethods<FGAIBase,double>(*this,
145 &FGAIBase::_getAltitude,
146 &FGAIBase::_setAltitude));
147 props->tie("position/latitude-deg",
148 SGRawValueMethods<FGAIBase,double>(*this,
149 &FGAIBase::_getLatitude,
150 &FGAIBase::_setLatitude));
151 props->tie("position/longitude-deg",
152 SGRawValueMethods<FGAIBase,double>(*this,
153 &FGAIBase::_getLongitude,
154 &FGAIBase::_setLongitude));
156 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
157 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
158 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
160 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
161 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
162 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
163 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
164 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
165 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
166 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
167 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
168 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
170 props->tie("controls/lighting/nav-lights",
171 SGRawValueFunctions<bool>(_isNight));
172 props->setBoolValue("controls/lighting/beacon", true);
173 props->setBoolValue("controls/lighting/strobe", true);
176 void FGAIBase::unbind() {
178 props->untie("velocities/true-airspeed-kt");
179 props->untie("velocities/vertical-speed-fps");
181 props->untie("position/altitude-ft");
182 props->untie("position/latitude-deg");
183 props->untie("position/longitude-deg");
185 props->untie("orientation/pitch-deg");
186 props->untie("orientation/roll-deg");
187 props->untie("orientation/true-heading-deg");
189 props->untie("radar/in-range");
190 props->untie("radar/bearing-deg");
191 props->untie("radar/elevation-deg");
192 props->untie("radar/range-nm");
193 props->untie("radar/h-offset");
194 props->untie("radar/v-offset");
195 props->untie("radar/x-shift");
196 props->untie("radar/y-shift");
197 props->untie("radar/rotation");
199 props->untie("controls/lighting/nav-lights");
202 double FGAIBase::UpdateRadar(FGAIManager* manager)
204 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
205 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
206 radar_range_ft2 *= radar_range_ft2;
208 double user_latitude = manager->get_user_latitude();
209 double user_longitude = manager->get_user_longitude();
210 double lat_range = fabs(pos.lat() - user_latitude) * ft_per_deg_lat;
211 double lon_range = fabs(pos.lon() - user_longitude) * ft_per_deg_lon;
212 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
215 // Test whether the target is within radar range.
217 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
220 props->setBoolValue("radar/in-range", true);
222 // copy values from the AIManager
223 double user_altitude = manager->get_user_altitude();
224 double user_heading = manager->get_user_heading();
225 double user_pitch = manager->get_user_pitch();
226 double user_yaw = manager->get_user_yaw();
227 double user_speed = manager->get_user_speed();
229 // calculate range to target in feet and nautical miles
230 double range_ft = sqrt( range_ft2 );
231 range = range_ft / 6076.11549;
233 // calculate bearing to target
234 if (pos.lat() >= user_latitude) {
235 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
236 if (pos.lon() >= user_longitude) {
237 bearing = 90.0 - bearing;
239 bearing = 270.0 + bearing;
242 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
243 if (pos.lon() >= user_longitude) {
244 bearing = 180.0 - bearing;
246 bearing = 180.0 + bearing;
250 // calculate look left/right to target, without yaw correction
251 horiz_offset = bearing - user_heading;
252 if (horiz_offset > 180.0) horiz_offset -= 360.0;
253 if (horiz_offset < -180.0) horiz_offset += 360.0;
255 // calculate elevation to target
256 elevation = atan2( altitude * SG_METER_TO_FEET - user_altitude, range_ft )
257 * SG_RADIANS_TO_DEGREES;
259 // calculate look up/down to target
260 vert_offset = elevation + user_pitch;
262 /* this calculation needs to be fixed, but it isn't important anyway
263 // calculate range rate
264 double recip_bearing = bearing + 180.0;
265 if (recip_bearing > 360.0) recip_bearing -= 360.0;
266 double my_horiz_offset = recip_bearing - hdg;
267 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
268 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
269 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
270 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
273 // now correct look left/right for yaw
274 horiz_offset += user_yaw;
276 // calculate values for radar display
277 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
278 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
279 rotation = hdg - user_heading;
280 if (rotation < 0.0) rotation += 360.0;
289 * getters and Setters
291 void FGAIBase::_setLongitude( double longitude ) {
292 pos.setlon(longitude);
294 void FGAIBase::_setLatitude ( double latitude ) {
295 pos.setlat(latitude);
298 double FGAIBase::_getLongitude() const {
301 double FGAIBase::_getLatitude () const {
304 double FGAIBase::_getRdot() const {
307 double FGAIBase::_getVS_fps() const {
310 void FGAIBase::_setVS_fps( double _vs ) {
314 double FGAIBase::_getAltitude() const {
317 void FGAIBase::_setAltitude( double _alt ) {
321 bool FGAIBase::_isNight() {
322 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
325 int FGAIBase::_getID() const {