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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
25 #include <simgear/compiler.h>
32 #include <simgear/math/point3d.hxx>
33 #include <simgear/math/sg_geodesy.hxx>
34 #include <simgear/misc/sg_path.hxx>
35 #include <simgear/scene/model/location.hxx>
36 #include <simgear/scene/model/model.hxx>
37 #include <simgear/debug/logstream.hxx>
38 #include <simgear/props/props.hxx>
40 #include <Main/globals.hxx>
41 #include <Scenery/scenery.hxx>
45 #include "AIManager.hxx"
48 const double FGAIBase::e = 2.71828183;
49 const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
52 FGAIBase::FGAIBase(object_type ot)
56 _refID( _newAIModelID() ),
59 tgt_heading = hdg = tgt_altitude = tgt_speed = 0.0;
60 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
61 bearing = elevation = range = rdot = 0.0;
62 x_shift = y_shift = rotation = 0.0;
70 FGAIBase::~FGAIBase() {
71 // Unregister that one at the scenery manager
72 if (globals->get_scenery()) {
73 globals->get_scenery()->unregister_placement_transform(aip.getTransform());
74 globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
77 SGPropertyNode* parent = props->getParent();
79 fgSetString("/ai/models/model-removed", props->getPath());
80 parent->removeChild(props->getName(), props->getIndex(), false);
88 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
93 setPath(scFileNode->getStringValue("model", "Models/Geometry/glider.ac"));
95 setHeading(scFileNode->getDoubleValue("heading", 0.0));
96 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
97 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
98 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
99 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
100 setBank(scFileNode->getDoubleValue("roll", 0.0));
103 void FGAIBase::update(double dt) {
104 if (_otype == otStatic)
106 if (_otype == otBallistic)
109 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
110 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
113 void FGAIBase::Transform() {
115 aip.setPosition(pos);
117 aip.setOrientation(0.0, pitch, hdg);
119 aip.setOrientation(roll, pitch, hdg);
126 bool FGAIBase::init() {
128 if (!model_path.empty()) {
130 model = load3DModel( globals->get_fg_root(), model_path, props,
131 globals->get_sim_time_sec() );
132 } catch (const sg_exception &e) {
138 aip.setVisible(true);
140 globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
141 // Register that one at the scenery manager
142 globals->get_scenery()->register_placement_transform(aip.getTransform());
143 fgSetString("/ai/models/model-added", props->getPath());
145 if (!model_path.empty()) {
146 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
156 ssgBranch * FGAIBase::load3DModel(const string& fg_root,
158 SGPropertyNode *prop_root,
161 // some more code here to check whether a model with this name has already been loaded
162 // if not load it, otherwise, get the memory pointer and do something like
163 // SetModel as in ATC/AIEntity.cxx
164 model = manager->getModel(path);
166 model = sgLoad3DModel(fg_root,
170 manager->setModel(path, model);
176 bool FGAIBase::isa( object_type otype ) {
177 if ( otype == _otype )
184 void FGAIBase::bind() {
185 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
187 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
188 props->tie("velocities/vertical-speed-fps",
189 SGRawValueMethods<FGAIBase,double>(*this,
190 &FGAIBase::_getVS_fps,
191 &FGAIBase::_setVS_fps));
193 props->tie("position/altitude-ft",
194 SGRawValueMethods<FGAIBase,double>(*this,
195 &FGAIBase::_getAltitude,
196 &FGAIBase::_setAltitude));
197 props->tie("position/latitude-deg",
198 SGRawValueMethods<FGAIBase,double>(*this,
199 &FGAIBase::_getLatitude,
200 &FGAIBase::_setLatitude));
201 props->tie("position/longitude-deg",
202 SGRawValueMethods<FGAIBase,double>(*this,
203 &FGAIBase::_getLongitude,
204 &FGAIBase::_setLongitude));
206 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
207 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
208 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
210 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
211 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
212 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
213 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
214 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
215 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
216 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
217 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
218 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
219 props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
221 props->tie("controls/lighting/nav-lights",
222 SGRawValueFunctions<bool>(_isNight));
223 props->setBoolValue("controls/lighting/beacon", true);
224 props->setBoolValue("controls/lighting/strobe", true);
225 props->setBoolValue("controls/glide-path", true);
227 props->setStringValue("controls/flight/lateral-mode", "roll");
228 props->setDoubleValue("controls/flight/target-hdg", hdg);
229 props->setDoubleValue("controls/flight/target-roll", roll);
231 props->setStringValue("controls/flight/longitude-mode", "alt");
232 props->setDoubleValue("controls/flight/target-alt", altitude);
233 props->setDoubleValue("controls/flight/target-pitch", pitch);
235 props->setDoubleValue("controls/flight/target-spd", speed);
239 void FGAIBase::unbind() {
241 props->untie("velocities/true-airspeed-kt");
242 props->untie("velocities/vertical-speed-fps");
244 props->untie("position/altitude-ft");
245 props->untie("position/latitude-deg");
246 props->untie("position/longitude-deg");
248 props->untie("orientation/pitch-deg");
249 props->untie("orientation/roll-deg");
250 props->untie("orientation/true-heading-deg");
252 props->untie("radar/in-range");
253 props->untie("radar/bearing-deg");
254 props->untie("radar/elevation-deg");
255 props->untie("radar/range-nm");
256 props->untie("radar/h-offset");
257 props->untie("radar/v-offset");
258 props->untie("radar/x-shift");
259 props->untie("radar/y-shift");
260 props->untie("radar/rotation");
261 props->untie("radar/ht-diff-ft");
263 props->untie("controls/lighting/nav-lights");
266 double FGAIBase::UpdateRadar(FGAIManager* manager)
268 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
269 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
270 radar_range_ft2 *= radar_range_ft2;
272 double user_latitude = manager->get_user_latitude();
273 double user_longitude = manager->get_user_longitude();
274 double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
275 double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
276 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
279 // Test whether the target is within radar range.
281 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
284 props->setBoolValue("radar/in-range", true);
286 // copy values from the AIManager
287 double user_altitude = manager->get_user_altitude();
288 double user_heading = manager->get_user_heading();
289 double user_pitch = manager->get_user_pitch();
290 double user_yaw = manager->get_user_yaw();
291 double user_speed = manager->get_user_speed();
293 // calculate range to target in feet and nautical miles
294 double range_ft = sqrt( range_ft2 );
295 range = range_ft / 6076.11549;
297 // calculate bearing to target
298 if (pos.getLatitudeDeg() >= user_latitude) {
299 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
300 if (pos.getLongitudeDeg() >= user_longitude) {
301 bearing = 90.0 - bearing;
303 bearing = 270.0 + bearing;
306 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
307 if (pos.getLongitudeDeg() >= user_longitude) {
308 bearing = 180.0 - bearing;
310 bearing = 180.0 + bearing;
314 // calculate look left/right to target, without yaw correction
315 horiz_offset = bearing - user_heading;
316 if (horiz_offset > 180.0) horiz_offset -= 360.0;
317 if (horiz_offset < -180.0) horiz_offset += 360.0;
319 // calculate elevation to target
320 elevation = atan2( altitude - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
322 // calculate look up/down to target
323 vert_offset = elevation - user_pitch;
325 /* this calculation needs to be fixed, but it isn't important anyway
326 // calculate range rate
327 double recip_bearing = bearing + 180.0;
328 if (recip_bearing > 360.0) recip_bearing -= 360.0;
329 double my_horiz_offset = recip_bearing - hdg;
330 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
331 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
332 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
333 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
336 // now correct look left/right for yaw
337 horiz_offset += user_yaw;
339 // calculate values for radar display
340 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
341 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
342 rotation = hdg - user_heading;
343 if (rotation < 0.0) rotation += 360.0;
344 ht_diff = altitude - user_altitude;
352 FGAIBase::getCartPosAt(const SGVec3d& _off) const
354 // Transform that one to the horizontal local coordinate system.
356 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
357 // and postrotate the orientation of the AIModel wrt the horizontal
359 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
361 // The offset converted to the usual body fixed coordinate system
362 // rotated to the earth fiexed coordinates axis
363 SGVec3d off = hlTrans.backTransform(_off);
365 // Add the position offset of the AIModel to gain the earth centered position
366 SGVec3d cartPos = SGVec3d::fromGeod(pos);
368 return cartPos + off;
372 * getters and Setters
374 void FGAIBase::_setLongitude( double longitude ) {
375 pos.setLongitudeDeg(longitude);
377 void FGAIBase::_setLatitude ( double latitude ) {
378 pos.setLatitudeDeg(latitude);
381 double FGAIBase::_getLongitude() const {
382 return pos.getLongitudeDeg();
384 double FGAIBase::_getLatitude () const {
385 return pos.getLatitudeDeg();
387 double FGAIBase::_getRdot() const {
390 double FGAIBase::_getVS_fps() const {
393 void FGAIBase::_setVS_fps( double _vs ) {
397 double FGAIBase::_getAltitude() const {
400 void FGAIBase::_setAltitude( double _alt ) {
404 bool FGAIBase::_isNight() {
405 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
408 int FGAIBase::getID() const {
412 void FGAIBase::CalculateMach() {
413 // Calculate rho at altitude, using standard atmosphere
414 // For the temperature T and the pressure p,
416 if (altitude < 36152) { // curve fits for the troposphere
417 T = 59 - 0.00356 * altitude;
418 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
420 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
422 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
424 } else { // upper stratosphere
425 T = -205.05 + (0.00164 * altitude);
426 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
429 rho = p / (1718 * (T + 459.7));
431 // calculate the speed of sound at altitude
432 // a = sqrt ( g * R * (T + 459.7))
434 // a = speed of sound [ft/s]
435 // g = specific heat ratio, which is usually equal to 1.4
436 // R = specific gas constant, which equals 1716 ft-lb/slug/°R
438 a = sqrt ( 1.4 * 1716 * (T + 459.7));
440 // calculate Mach number
444 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach;
447 int FGAIBase::_newAIModelID() {
450 id++; // id = 0 is not allowed.