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;
84 _expiry_reported = false;
96 userpos = SGGeod::fromDeg(0, 0);
98 pos = SGGeod::fromDeg(0, 0);
101 speed_north_deg_sec = 0;
102 speed_east_deg_sec = 0;
123 FGAIBase::~FGAIBase() {
124 // Unregister that one at the scenery manager
125 if (globals->get_scenery()) {
126 globals->get_scenery()->get_scene_graph()->removeChild(aip.getSceneGraph());
130 SGPropertyNode* parent = props->getParent();
133 model_removed->setStringValue(props->getPath());
139 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
144 setPath(scFileNode->getStringValue("model",
145 fgGetString("/sim/multiplay/default-model", default_model)));
147 setHeading(scFileNode->getDoubleValue("heading", 0.0));
148 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
149 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
150 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
151 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
152 setBank(scFileNode->getDoubleValue("roll", 0.0));
154 SGPropertyNode* submodels = scFileNode->getChild("submodels");
157 //cout << "IN submodels path " << submodels->getStringValue("path")
158 // << "IN serviceable " << submodels->getBoolValue("serviceable")
160 setServiceable(submodels->getBoolValue("serviceable", false));
161 setSMPath(submodels->getStringValue("path", ""));
166 void FGAIBase::update(double dt) {
168 if (_otype == otStatic)
171 if (_otype == otBallistic)
174 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
175 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
178 void FGAIBase::Transform() {
181 aip.setVisible(true);
182 aip.setPosition(pos);
185 aip.setOrientation(0.0, pitch, hdg);
187 aip.setOrientation(roll, pitch, hdg);
191 aip.setVisible(false);
197 bool FGAIBase::init(bool search_in_AI_path) {
198 osg::ref_ptr<osgDB::ReaderWriter::Options> opt=
199 new osgDB::ReaderWriter::Options(*osgDB::Registry::instance()->getOptions());
201 if(search_in_AI_path)
203 SGPath ai_path(globals->get_fg_root());
204 ai_path.append("AI");
205 opt->getDatabasePathList().push_front(ai_path.str());
208 string f = osgDB::findDataFile(model_path, opt.get());
211 f = fgGetString("/sim/multiplay/default-model", default_model);
213 model = load3DModel(f, props);
215 if (model.valid() && _initialized == false) {
216 aip.init( model.get() );
217 aip.setVisible(true);
219 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
222 } else if (!model_path.empty()) {
223 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
230 void FGAIBase::initModel(osg::Node *node)
234 props->setStringValue("submodels/path", _path.c_str());
235 //props->setStringValue("submodel/path", _path.c_str());
236 SG_LOG(SG_INPUT, SG_ALERT, "AIBase: submodels/path " << _path);
238 fgSetString("/ai/models/model-added", props->getPath().c_str());
239 } else if (!model_path.empty()) {
240 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
243 //props->setStringValue("submodels/path", _path.c_str());
248 osg::Node* FGAIBase::load3DModel(const string &path, SGPropertyNode *prop_root)
250 model = SGModelLib::loadPagedModel(path, prop_root, new FGNasalModelData(prop_root));
251 initModel(model.get());
255 bool FGAIBase::isa( object_type otype ) {
256 return otype == _otype;
260 void FGAIBase::bind() {
261 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
263 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
264 props->tie("velocities/vertical-speed-fps",
265 SGRawValueMethods<FGAIBase,double>(*this,
266 &FGAIBase::_getVS_fps,
267 &FGAIBase::_setVS_fps));
269 props->tie("position/altitude-ft",
270 SGRawValueMethods<FGAIBase,double>(*this,
271 &FGAIBase::_getAltitude,
272 &FGAIBase::_setAltitude));
273 props->tie("position/latitude-deg",
274 SGRawValueMethods<FGAIBase,double>(*this,
275 &FGAIBase::_getLatitude,
276 &FGAIBase::_setLatitude));
277 props->tie("position/longitude-deg",
278 SGRawValueMethods<FGAIBase,double>(*this,
279 &FGAIBase::_getLongitude,
280 &FGAIBase::_setLongitude));
282 props->tie("position/global-x",
283 SGRawValueMethods<FGAIBase,double>(*this,
284 &FGAIBase::_getCartPosX,
286 props->tie("position/global-y",
287 SGRawValueMethods<FGAIBase,double>(*this,
288 &FGAIBase::_getCartPosY,
290 props->tie("position/global-z",
291 SGRawValueMethods<FGAIBase,double>(*this,
292 &FGAIBase::_getCartPosZ,
294 props->tie("callsign",
295 SGRawValueMethods<FGAIBase,const char*>(*this,
296 &FGAIBase::_getCallsign,
299 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
300 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
301 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
303 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
304 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
305 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
306 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
307 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
308 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
309 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
310 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
311 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
312 props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
313 props->tie("subID", SGRawValuePointer<int>(&_subID));
314 props->tie("controls/lighting/nav-lights",
315 SGRawValueFunctions<bool>(_isNight));
316 props->setBoolValue("controls/lighting/beacon", true);
317 props->setBoolValue("controls/lighting/strobe", true);
318 props->setBoolValue("controls/glide-path", true);
320 props->setStringValue("controls/flight/lateral-mode", "roll");
321 props->setDoubleValue("controls/flight/target-hdg", hdg);
322 props->setDoubleValue("controls/flight/target-roll", roll);
324 props->setStringValue("controls/flight/longitude-mode", "alt");
325 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
326 props->setDoubleValue("controls/flight/target-pitch", pitch);
328 props->setDoubleValue("controls/flight/target-spd", speed);
332 void FGAIBase::unbind() {
334 props->untie("velocities/true-airspeed-kt");
335 props->untie("velocities/vertical-speed-fps");
337 props->untie("position/altitude-ft");
338 props->untie("position/latitude-deg");
339 props->untie("position/longitude-deg");
340 props->untie("position/global-x");
341 props->untie("position/global-y");
342 props->untie("position/global-z");
343 props->untie("callsign");
345 props->untie("orientation/pitch-deg");
346 props->untie("orientation/roll-deg");
347 props->untie("orientation/true-heading-deg");
349 props->untie("radar/in-range");
350 props->untie("radar/bearing-deg");
351 props->untie("radar/elevation-deg");
352 props->untie("radar/range-nm");
353 props->untie("radar/h-offset");
354 props->untie("radar/v-offset");
355 props->untie("radar/x-shift");
356 props->untie("radar/y-shift");
357 props->untie("radar/rotation");
358 props->untie("radar/ht-diff-ft");
360 props->untie("controls/lighting/nav-lights");
362 props->setBoolValue("/sim/controls/radar/", true);
366 double FGAIBase::UpdateRadar(FGAIManager* manager) {
367 bool control = fgGetBool("/sim/controls/radar", true);
369 if(!control) return 0;
371 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
372 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
373 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
374 radar_range_ft2 *= radar_range_ft2;
376 double user_latitude = manager->get_user_latitude();
377 double user_longitude = manager->get_user_longitude();
378 double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
379 double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
380 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
383 // Test whether the target is within radar range.
385 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
387 if ( in_range || force_on ) {
388 props->setBoolValue("radar/in-range", true);
390 // copy values from the AIManager
391 double user_altitude = manager->get_user_altitude();
392 double user_heading = manager->get_user_heading();
393 double user_pitch = manager->get_user_pitch();
394 //double user_yaw = manager->get_user_yaw();
395 //double user_speed = manager->get_user_speed();
397 // calculate range to target in feet and nautical miles
398 double range_ft = sqrt( range_ft2 );
399 range = range_ft / 6076.11549;
401 // calculate bearing to target
402 if (pos.getLatitudeDeg() >= user_latitude) {
403 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
404 if (pos.getLongitudeDeg() >= user_longitude) {
405 bearing = 90.0 - bearing;
407 bearing = 270.0 + bearing;
410 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
411 if (pos.getLongitudeDeg() >= user_longitude) {
412 bearing = 180.0 - bearing;
414 bearing = 180.0 + bearing;
418 // This is an alternate way to compute bearing and distance which
419 // agrees with the original scheme within about 0.1 degrees.
421 // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
422 // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
423 // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
424 // double gc_bearing, gc_range;
425 // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
426 // gc_range *= SG_METER_TO_NM;
427 // gc_bearing *= SGD_RADIANS_TO_DEGREES;
428 // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
429 // bearing, range, gc_bearing, gc_range);
431 // calculate look left/right to target, without yaw correction
432 horiz_offset = bearing - user_heading;
433 if (horiz_offset > 180.0) horiz_offset -= 360.0;
434 if (horiz_offset < -180.0) horiz_offset += 360.0;
436 // calculate elevation to target
437 elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
439 // calculate look up/down to target
440 vert_offset = elevation - user_pitch;
442 /* this calculation needs to be fixed, but it isn't important anyway
443 // calculate range rate
444 double recip_bearing = bearing + 180.0;
445 if (recip_bearing > 360.0) recip_bearing -= 360.0;
446 double my_horiz_offset = recip_bearing - hdg;
447 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
448 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
449 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
450 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
453 // now correct look left/right for yaw
454 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
456 // calculate values for radar display
457 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
458 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
459 rotation = hdg - user_heading;
460 if (rotation < 0.0) rotation += 360.0;
461 ht_diff = altitude_ft - user_altitude;
469 * Getters and Setters
472 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
473 // Transform that one to the horizontal local coordinate system.
474 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
476 // and postrotate the orientation of the AIModel wrt the horizontal
478 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
480 // The offset converted to the usual body fixed coordinate system
481 // rotated to the earth fiexed coordinates axis
482 SGVec3d off = hlTrans.backTransform(_off);
484 // Add the position offset of the AIModel to gain the earth centered position
485 SGVec3d cartPos = SGVec3d::fromGeod(pos);
487 return cartPos + off;
490 SGVec3d FGAIBase::getCartPos() const {
491 SGVec3d cartPos = SGVec3d::fromGeod(pos);
495 bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
496 const SGMaterial** material) const {
497 return globals->get_scenery()->get_elevation_m(pos, elev, material,
501 double FGAIBase::_getCartPosX() const {
502 SGVec3d cartPos = getCartPos();
506 double FGAIBase::_getCartPosY() const {
507 SGVec3d cartPos = getCartPos();
511 double FGAIBase::_getCartPosZ() const {
512 SGVec3d cartPos = getCartPos();
516 void FGAIBase::_setLongitude( double longitude ) {
517 pos.setLongitudeDeg(longitude);
520 void FGAIBase::_setLatitude ( double latitude ) {
521 pos.setLatitudeDeg(latitude);
524 void FGAIBase::_setUserPos(){
525 userpos.setLatitudeDeg(manager->get_user_latitude());
526 userpos.setLongitudeDeg(manager->get_user_longitude());
527 userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
530 void FGAIBase::_setSubID( int s ) {
534 double FGAIBase::_getLongitude() const {
535 return pos.getLongitudeDeg();
538 double FGAIBase::_getLatitude() const {
539 return pos.getLatitudeDeg();
542 double FGAIBase::_getElevationFt() const {
543 return pos.getElevationFt();
546 double FGAIBase::_getRdot() const {
550 double FGAIBase::_getVS_fps() const {
554 double FGAIBase::_get_speed_east_fps() const {
555 return speed_east_deg_sec * ft_per_deg_lon;
558 double FGAIBase::_get_speed_north_fps() const {
559 return speed_north_deg_sec * ft_per_deg_lat;
562 void FGAIBase::_setVS_fps( double _vs ) {
566 double FGAIBase::_getAltitude() const {
570 bool FGAIBase::_getServiceable() const {
574 SGPropertyNode* FGAIBase::_getProps() const {
578 void FGAIBase::_setAltitude( double _alt ) {
582 bool FGAIBase::_isNight() {
583 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
586 bool FGAIBase::_getCollisionData() {
587 return _collision_reported;
590 bool FGAIBase::_getExpiryData() {
591 return _expiry_reported;
594 bool FGAIBase::_getImpactData() {
595 return _impact_reported;
598 double FGAIBase::_getImpactLat() const {
602 double FGAIBase::_getImpactLon() const {
606 double FGAIBase::_getImpactElevFt() const {
607 return _impact_elev * SG_METER_TO_FEET;
610 double FGAIBase::_getImpactPitch() const {
611 return _impact_pitch;
614 double FGAIBase::_getImpactRoll() const {
618 double FGAIBase::_getImpactHdg() const {
622 double FGAIBase::_getImpactSpeed() const {
623 return _impact_speed;
626 int FGAIBase::getID() const {
630 int FGAIBase::_getSubID() const {
634 double FGAIBase::_getSpeed() const {
638 double FGAIBase::_getRoll() const {
642 double FGAIBase::_getPitch() const {
646 double FGAIBase::_getHeading() const {
650 double FGAIBase::_getXOffset() const {
654 double FGAIBase::_getYOffset() const {
658 double FGAIBase::_getZOffset() const {
662 const char* FGAIBase::_getPath() const {
663 return model_path.c_str();
666 const char* FGAIBase::_getSMPath() const {
667 return _path.c_str();
670 const char* FGAIBase::_getName() const {
671 return _name.c_str();
674 const char* FGAIBase::_getCallsign() const {
675 return _callsign.c_str();
678 const char* FGAIBase::_getSubmodel() const {
679 return _submodel.c_str();
682 void FGAIBase::CalculateMach() {
683 // Calculate rho at altitude, using standard atmosphere
684 // For the temperature T and the pressure p,
685 double altitude = altitude_ft;
687 if (altitude < 36152) { // curve fits for the troposphere
688 T = 59 - 0.00356 * altitude;
689 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
690 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
692 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
693 } else { // upper stratosphere
694 T = -205.05 + (0.00164 * altitude);
695 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
698 rho = p / (1718 * (T + 459.7));
700 // calculate the speed of sound at altitude
701 // a = sqrt ( g * R * (T + 459.7))
703 // a = speed of sound [ft/s]
704 // g = specific heat ratio, which is usually equal to 1.4
705 // R = specific gas constant, which equals 1716 ft-lb/slug/R
706 a = sqrt ( 1.4 * 1716 * (T + 459.7));
708 // calculate Mach number
711 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
714 int FGAIBase::_newAIModelID() {
718 id++; // id = 0 is not allowed.