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 // With additions by Mathias Froehlich & Vivian Meazza 2004 -2007
8 // This program is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU General Public License as
10 // published by the Free Software Foundation; either version 2 of the
11 // License, or (at your option) any later version.
13 // This program is distributed in the hope that it will be useful, but
14 // WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // General Public License for more details.
18 // You should have received a copy of the GNU General Public License
19 // along with this program; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
27 #include <simgear/compiler.h>
31 #include <osg/ref_ptr>
33 #include <osgDB/FileUtils>
35 #include <simgear/math/SGMath.hxx>
36 #include <simgear/misc/sg_path.hxx>
37 #include <simgear/scene/model/modellib.hxx>
38 #include <simgear/scene/util/SGNodeMasks.hxx>
39 #include <simgear/debug/logstream.hxx>
40 #include <simgear/props/props.hxx>
42 #include <Main/globals.hxx>
43 #include <Scenery/scenery.hxx>
44 #include <Scripting/NasalSys.hxx>
47 #include "AIManager.hxx"
49 const char *default_model = "Models/Geometry/glider.ac";
50 const double FGAIBase::e = 2.71828183;
51 const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
53 using namespace simgear;
55 FGAIBase::FGAIBase(object_type ot) :
57 model_removed( fgGetNode("/ai/models/model-removed", true) ),
69 _refID( _newAIModelID() ),
73 tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
74 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
75 bearing = elevation = range = rdot = 0.0;
76 x_shift = y_shift = rotation = 0.0;
82 _impact_reported = false;
83 _collision_reported = false;
87 FGAIBase::~FGAIBase() {
88 // Unregister that one at the scenery manager
89 if (globals->get_scenery()) {
90 globals->get_scenery()->get_scene_graph()->removeChild(aip.getSceneGraph());
94 SGPropertyNode* parent = props->getParent();
97 model_removed->setStringValue(props->getPath());
103 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
108 setPath(scFileNode->getStringValue("model",
109 fgGetString("/sim/multiplay/default-model", default_model)));
111 setHeading(scFileNode->getDoubleValue("heading", 0.0));
112 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
113 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
114 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
115 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
116 setBank(scFileNode->getDoubleValue("roll", 0.0));
118 SGPropertyNode* submodels = scFileNode->getChild("submodels");
121 setServiceable(submodels->getBoolValue("serviceable", false));
122 setSMPath(submodels->getStringValue("path", ""));
127 void FGAIBase::update(double dt) {
129 if (_otype == otStatic)
132 if (_otype == otBallistic)
135 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
136 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
139 void FGAIBase::Transform() {
142 aip.setVisible(true);
143 aip.setPosition(pos);
146 aip.setOrientation(0.0, pitch, hdg);
148 aip.setOrientation(roll, pitch, hdg);
152 aip.setVisible(false);
158 bool FGAIBase::init(bool search_in_AI_path) {
159 osg::ref_ptr<osgDB::ReaderWriter::Options> opt=
160 new osgDB::ReaderWriter::Options(*osgDB::Registry::instance()->getOptions());
162 if(search_in_AI_path)
164 SGPath ai_path(globals->get_fg_root());
165 ai_path.append("AI");
166 opt->getDatabasePathList().push_front(ai_path.str());
169 string f = osgDB::findDataFile(model_path, opt.get());
172 f = fgGetString("/sim/multiplay/default-model", default_model);
174 model = load3DModel(f, props);
176 if (model.valid() && _initialized == false) {
177 aip.init( model.get() );
178 aip.setVisible(true);
180 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
183 } else if (!model_path.empty()) {
184 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
191 void FGAIBase::initModel(osg::Node *node)
195 fgSetString("/ai/models/model-added", props->getPath());
197 } else if (!model_path.empty()) {
198 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
201 props->setStringValue("submodels/path", _path.c_str());
206 osg::Node* FGAIBase::load3DModel(const string &path, SGPropertyNode *prop_root)
208 model = SGModelLib::loadPagedModel(path, prop_root, new FGNasalModelData(prop_root));
209 initModel(model.get());
213 bool FGAIBase::isa( object_type otype ) {
214 return otype == _otype;
218 void FGAIBase::bind() {
219 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
221 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
222 props->tie("velocities/vertical-speed-fps",
223 SGRawValueMethods<FGAIBase,double>(*this,
224 &FGAIBase::_getVS_fps,
225 &FGAIBase::_setVS_fps));
227 props->tie("position/altitude-ft",
228 SGRawValueMethods<FGAIBase,double>(*this,
229 &FGAIBase::_getAltitude,
230 &FGAIBase::_setAltitude));
231 props->tie("position/latitude-deg",
232 SGRawValueMethods<FGAIBase,double>(*this,
233 &FGAIBase::_getLatitude,
234 &FGAIBase::_setLatitude));
235 props->tie("position/longitude-deg",
236 SGRawValueMethods<FGAIBase,double>(*this,
237 &FGAIBase::_getLongitude,
238 &FGAIBase::_setLongitude));
240 props->tie("position/global-x",
241 SGRawValueMethods<FGAIBase,double>(*this,
242 &FGAIBase::_getCartPosX,
244 props->tie("position/global-y",
245 SGRawValueMethods<FGAIBase,double>(*this,
246 &FGAIBase::_getCartPosY,
248 props->tie("position/global-z",
249 SGRawValueMethods<FGAIBase,double>(*this,
250 &FGAIBase::_getCartPosZ,
252 props->tie("callsign",
253 SGRawValueMethods<FGAIBase,const char*>(*this,
254 &FGAIBase::_getCallsign,
257 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
258 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
259 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
261 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
262 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
263 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
264 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
265 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
266 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
267 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
268 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
269 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
270 props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
271 props->tie("subID", SGRawValuePointer<int>(&_subID));
272 props->tie("controls/lighting/nav-lights",
273 SGRawValueFunctions<bool>(_isNight));
274 props->setBoolValue("controls/lighting/beacon", true);
275 props->setBoolValue("controls/lighting/strobe", true);
276 props->setBoolValue("controls/glide-path", true);
278 props->setStringValue("controls/flight/lateral-mode", "roll");
279 props->setDoubleValue("controls/flight/target-hdg", hdg);
280 props->setDoubleValue("controls/flight/target-roll", roll);
282 props->setStringValue("controls/flight/longitude-mode", "alt");
283 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
284 props->setDoubleValue("controls/flight/target-pitch", pitch);
286 props->setDoubleValue("controls/flight/target-spd", speed);
290 void FGAIBase::unbind() {
292 props->untie("velocities/true-airspeed-kt");
293 props->untie("velocities/vertical-speed-fps");
295 props->untie("position/altitude-ft");
296 props->untie("position/latitude-deg");
297 props->untie("position/longitude-deg");
298 props->untie("position/global-x");
299 props->untie("position/global-y");
300 props->untie("position/global-z");
301 props->untie("callsign");
303 props->untie("orientation/pitch-deg");
304 props->untie("orientation/roll-deg");
305 props->untie("orientation/true-heading-deg");
307 props->untie("radar/in-range");
308 props->untie("radar/bearing-deg");
309 props->untie("radar/elevation-deg");
310 props->untie("radar/range-nm");
311 props->untie("radar/h-offset");
312 props->untie("radar/v-offset");
313 props->untie("radar/x-shift");
314 props->untie("radar/y-shift");
315 props->untie("radar/rotation");
316 props->untie("radar/ht-diff-ft");
318 props->untie("controls/lighting/nav-lights");
320 props->setBoolValue("/sim/controls/radar/", true);
324 double FGAIBase::UpdateRadar(FGAIManager* manager) {
325 bool control = fgGetBool("/sim/controls/radar", true);
327 if(!control) return 0;
329 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
330 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
331 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
332 radar_range_ft2 *= radar_range_ft2;
334 double user_latitude = manager->get_user_latitude();
335 double user_longitude = manager->get_user_longitude();
336 double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
337 double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
338 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
341 // Test whether the target is within radar range.
343 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
345 if ( in_range || force_on ) {
346 props->setBoolValue("radar/in-range", true);
348 // copy values from the AIManager
349 double user_altitude = manager->get_user_altitude();
350 double user_heading = manager->get_user_heading();
351 double user_pitch = manager->get_user_pitch();
352 //double user_yaw = manager->get_user_yaw();
353 //double user_speed = manager->get_user_speed();
355 // calculate range to target in feet and nautical miles
356 double range_ft = sqrt( range_ft2 );
357 range = range_ft / 6076.11549;
359 // calculate bearing to target
360 if (pos.getLatitudeDeg() >= user_latitude) {
361 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
362 if (pos.getLongitudeDeg() >= user_longitude) {
363 bearing = 90.0 - bearing;
365 bearing = 270.0 + bearing;
368 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
369 if (pos.getLongitudeDeg() >= user_longitude) {
370 bearing = 180.0 - bearing;
372 bearing = 180.0 + bearing;
376 // This is an alternate way to compute bearing and distance which
377 // agrees with the original scheme within about 0.1 degrees.
379 // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
380 // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
381 // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
382 // double gc_bearing, gc_range;
383 // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
384 // gc_range *= SG_METER_TO_NM;
385 // gc_bearing *= SGD_RADIANS_TO_DEGREES;
386 // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
387 // bearing, range, gc_bearing, gc_range);
389 // calculate look left/right to target, without yaw correction
390 horiz_offset = bearing - user_heading;
391 if (horiz_offset > 180.0) horiz_offset -= 360.0;
392 if (horiz_offset < -180.0) horiz_offset += 360.0;
394 // calculate elevation to target
395 elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
397 // calculate look up/down to target
398 vert_offset = elevation - user_pitch;
400 /* this calculation needs to be fixed, but it isn't important anyway
401 // calculate range rate
402 double recip_bearing = bearing + 180.0;
403 if (recip_bearing > 360.0) recip_bearing -= 360.0;
404 double my_horiz_offset = recip_bearing - hdg;
405 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
406 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
407 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
408 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
411 // now correct look left/right for yaw
412 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
414 // calculate values for radar display
415 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
416 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
417 rotation = hdg - user_heading;
418 if (rotation < 0.0) rotation += 360.0;
419 ht_diff = altitude_ft - user_altitude;
427 * Getters and Setters
430 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
431 // Transform that one to the horizontal local coordinate system.
432 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
434 // and postrotate the orientation of the AIModel wrt the horizontal
436 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
438 // The offset converted to the usual body fixed coordinate system
439 // rotated to the earth fiexed coordinates axis
440 SGVec3d off = hlTrans.backTransform(_off);
442 // Add the position offset of the AIModel to gain the earth centered position
443 SGVec3d cartPos = SGVec3d::fromGeod(pos);
445 return cartPos + off;
448 SGVec3d FGAIBase::getCartPos() const {
449 SGVec3d cartPos = SGVec3d::fromGeod(pos);
453 bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
454 const SGMaterial** material) const {
455 return globals->get_scenery()->get_elevation_m(pos, elev, material,
459 double FGAIBase::_getCartPosX() const {
460 SGVec3d cartPos = getCartPos();
464 double FGAIBase::_getCartPosY() const {
465 SGVec3d cartPos = getCartPos();
469 double FGAIBase::_getCartPosZ() const {
470 SGVec3d cartPos = getCartPos();
474 void FGAIBase::_setLongitude( double longitude ) {
475 pos.setLongitudeDeg(longitude);
478 void FGAIBase::_setLatitude ( double latitude ) {
479 pos.setLatitudeDeg(latitude);
482 void FGAIBase::_setUserPos(){
483 userpos.setLatitudeDeg(manager->get_user_latitude());
484 userpos.setLongitudeDeg(manager->get_user_longitude());
485 userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
488 void FGAIBase::_setSubID( int s ) {
492 double FGAIBase::_getLongitude() const {
493 return pos.getLongitudeDeg();
496 double FGAIBase::_getLatitude() const {
497 return pos.getLatitudeDeg();
500 double FGAIBase::_getElevationFt () const {
501 return pos.getElevationFt();
504 double FGAIBase::_getRdot() const {
508 double FGAIBase::_getVS_fps() const {
512 double FGAIBase::_get_speed_east_fps() const {
513 return speed_east_deg_sec * ft_per_deg_lon;
516 double FGAIBase::_get_speed_north_fps() const {
517 return speed_north_deg_sec * ft_per_deg_lat;
520 void FGAIBase::_setVS_fps( double _vs ) {
524 double FGAIBase::_getAltitude() const {
528 bool FGAIBase::_getServiceable() const {
532 SGPropertyNode* FGAIBase::_getProps() const {
536 void FGAIBase::_setAltitude( double _alt ) {
540 bool FGAIBase::_isNight() {
541 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
544 bool FGAIBase::_getCollisionData() {
545 return _collision_reported;
548 bool FGAIBase::_getImpactData() {
549 return _impact_reported;
552 double FGAIBase::_getImpactLat() const {
556 double FGAIBase::_getImpactLon() const {
560 double FGAIBase::_getImpactElevFt() const {
561 return _impact_elev * SG_METER_TO_FEET;
564 double FGAIBase::_getImpactPitch() const {
565 return _impact_pitch;
568 double FGAIBase::_getImpactRoll() const {
572 double FGAIBase::_getImpactHdg() const {
576 double FGAIBase::_getImpactSpeed() const {
577 return _impact_speed;
580 int FGAIBase::getID() const {
584 int FGAIBase::_getSubID() const {
588 double FGAIBase::_getSpeed() const {
592 double FGAIBase::_getRoll() const {
596 double FGAIBase::_getPitch() const {
600 double FGAIBase::_getHeading() const {
604 double FGAIBase::_getXOffset() const {
608 double FGAIBase::_getYOffset() const {
612 double FGAIBase::_getZOffset() const {
616 const char* FGAIBase::_getPath() const {
617 return model_path.c_str();
620 const char* FGAIBase::_getSMPath() const {
621 return _path.c_str();
624 const char* FGAIBase::_getName() const {
625 return _name.c_str();
628 const char* FGAIBase::_getCallsign() const {
629 return _callsign.c_str();
632 const char* FGAIBase::_getSubmodel() const {
633 return _submodel.c_str();
636 void FGAIBase::CalculateMach() {
637 // Calculate rho at altitude, using standard atmosphere
638 // For the temperature T and the pressure p,
639 double altitude = altitude_ft;
641 if (altitude < 36152) { // curve fits for the troposphere
642 T = 59 - 0.00356 * altitude;
643 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
644 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
646 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
647 } else { // upper stratosphere
648 T = -205.05 + (0.00164 * altitude);
649 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
652 rho = p / (1718 * (T + 459.7));
654 // calculate the speed of sound at altitude
655 // a = sqrt ( g * R * (T + 459.7))
657 // a = speed of sound [ft/s]
658 // g = specific heat ratio, which is usually equal to 1.4
659 // R = specific gas constant, which equals 1716 ft-lb/slug/R
660 a = sqrt ( 1.4 * 1716 * (T + 459.7));
662 // calculate Mach number
665 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
668 int FGAIBase::_newAIModelID() {
672 id++; // id = 0 is not allowed.