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) :
60 model_removed( fgGetNode("/ai/models/model-removed", true) ),
70 _refID( _newAIModelID() ),
75 tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
76 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
77 bearing = elevation = range = rdot = 0.0;
78 x_shift = y_shift = rotation = 0.0;
84 _impact_reported = false;
85 _collision_reported = false;
86 _expiry_reported = false;
98 userpos = SGGeod::fromDeg(0, 0);
100 pos = SGGeod::fromDeg(0, 0);
103 speed_north_deg_sec = 0;
104 speed_east_deg_sec = 0;
125 FGAIBase::~FGAIBase() {
126 // Unregister that one at the scenery manager
127 if (globals->get_scenery()) {
128 globals->get_scenery()->get_scene_graph()->removeChild(aip.getSceneGraph());
132 SGPropertyNode* parent = props->getParent();
135 model_removed->setStringValue(props->getPath());
141 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
146 setPath(scFileNode->getStringValue("model",
147 fgGetString("/sim/multiplay/default-model", default_model)));
149 setHeading(scFileNode->getDoubleValue("heading", 0.0));
150 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
151 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
152 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
153 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
154 setBank(scFileNode->getDoubleValue("roll", 0.0));
156 SGPropertyNode* submodels = scFileNode->getChild("submodels");
159 setServiceable(submodels->getBoolValue("serviceable", false));
160 setSMPath(submodels->getStringValue("path", ""));
165 void FGAIBase::update(double dt) {
167 if (_otype == otStatic)
170 if (_otype == otBallistic)
173 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
174 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
177 void FGAIBase::Transform() {
180 aip.setVisible(true);
181 aip.setPosition(pos);
184 aip.setOrientation(0.0, pitch, hdg);
186 aip.setOrientation(roll, pitch, hdg);
190 aip.setVisible(false);
196 bool FGAIBase::init(bool search_in_AI_path) {
199 if(search_in_AI_path)
201 // setup a modified Options strucutre, with only the $fg-root/AI defined;
202 // we'll check that first, then give the normal search logic a chance.
203 // this ensures that models in AI/ are preferred to normal models, where
205 osg::ref_ptr<osgDB::ReaderWriter::Options>
206 opt(osg::clone(osgDB::Registry::instance()->getOptions(), osg::CopyOp::SHALLOW_COPY));
208 SGPath ai_path(globals->get_fg_root(), "AI");
209 opt->setDatabasePath(ai_path.str());
211 f = osgDB::findDataFile(model_path, opt.get());
215 f = simgear::SGModelLib::findDataFile(model_path);
219 f = fgGetString("/sim/multiplay/default-model", default_model);
221 model = load3DModel(f, props);
223 if (model.valid() && _initialized == false) {
224 aip.init( model.get() );
225 aip.setVisible(true);
227 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
230 } else if (!model_path.empty()) {
231 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
238 void FGAIBase::initModel(osg::Node *node)
243 props->setStringValue("submodels/path", _path.c_str());
244 SG_LOG(SG_INPUT, SG_DEBUG, "AIBase: submodels/path " << _path);
248 props->setStringValue("parent-name", _parent.c_str());
251 fgSetString("/ai/models/model-added", props->getPath().c_str());
252 } else if (!model_path.empty()) {
253 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
260 osg::Node* FGAIBase::load3DModel(const string &path, SGPropertyNode *prop_root)
262 model = SGModelLib::loadPagedModel(path, prop_root, new FGNasalModelData(prop_root));
263 initModel(model.get());
267 bool FGAIBase::isa( object_type otype ) {
268 return otype == _otype;
272 void FGAIBase::bind() {
273 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
275 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
276 props->tie("velocities/vertical-speed-fps",
277 SGRawValueMethods<FGAIBase,double>(*this,
278 &FGAIBase::_getVS_fps,
279 &FGAIBase::_setVS_fps));
281 props->tie("position/altitude-ft",
282 SGRawValueMethods<FGAIBase,double>(*this,
283 &FGAIBase::_getAltitude,
284 &FGAIBase::_setAltitude));
285 props->tie("position/latitude-deg",
286 SGRawValueMethods<FGAIBase,double>(*this,
287 &FGAIBase::_getLatitude,
288 &FGAIBase::_setLatitude));
289 props->tie("position/longitude-deg",
290 SGRawValueMethods<FGAIBase,double>(*this,
291 &FGAIBase::_getLongitude,
292 &FGAIBase::_setLongitude));
294 props->tie("position/global-x",
295 SGRawValueMethods<FGAIBase,double>(*this,
296 &FGAIBase::_getCartPosX,
298 props->tie("position/global-y",
299 SGRawValueMethods<FGAIBase,double>(*this,
300 &FGAIBase::_getCartPosY,
302 props->tie("position/global-z",
303 SGRawValueMethods<FGAIBase,double>(*this,
304 &FGAIBase::_getCartPosZ,
306 props->tie("callsign",
307 SGRawValueMethods<FGAIBase,const char*>(*this,
308 &FGAIBase::_getCallsign,
311 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
312 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
313 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
315 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
316 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
317 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
318 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
319 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
320 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
321 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
322 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
323 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
324 props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
325 props->tie("subID", SGRawValuePointer<int>(&_subID));
326 props->tie("controls/lighting/nav-lights",
327 SGRawValueFunctions<bool>(_isNight));
328 props->setBoolValue("controls/lighting/beacon", true);
329 props->setBoolValue("controls/lighting/strobe", true);
330 props->setBoolValue("controls/glide-path", true);
332 props->setStringValue("controls/flight/lateral-mode", "roll");
333 props->setDoubleValue("controls/flight/target-hdg", hdg);
334 props->setDoubleValue("controls/flight/target-roll", roll);
336 props->setStringValue("controls/flight/longitude-mode", "alt");
337 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
338 props->setDoubleValue("controls/flight/target-pitch", pitch);
340 props->setDoubleValue("controls/flight/target-spd", speed);
344 void FGAIBase::unbind() {
346 props->untie("velocities/true-airspeed-kt");
347 props->untie("velocities/vertical-speed-fps");
349 props->untie("position/altitude-ft");
350 props->untie("position/latitude-deg");
351 props->untie("position/longitude-deg");
352 props->untie("position/global-x");
353 props->untie("position/global-y");
354 props->untie("position/global-z");
355 props->untie("callsign");
357 props->untie("orientation/pitch-deg");
358 props->untie("orientation/roll-deg");
359 props->untie("orientation/true-heading-deg");
361 props->untie("radar/in-range");
362 props->untie("radar/bearing-deg");
363 props->untie("radar/elevation-deg");
364 props->untie("radar/range-nm");
365 props->untie("radar/h-offset");
366 props->untie("radar/v-offset");
367 props->untie("radar/x-shift");
368 props->untie("radar/y-shift");
369 props->untie("radar/rotation");
370 props->untie("radar/ht-diff-ft");
372 props->untie("controls/lighting/nav-lights");
374 props->setBoolValue("/sim/controls/radar/", true);
378 double FGAIBase::UpdateRadar(FGAIManager* manager) {
379 bool control = fgGetBool("/sim/controls/radar", true);
381 if(!control) return 0;
383 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
384 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
385 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
386 radar_range_ft2 *= radar_range_ft2;
388 double user_latitude = manager->get_user_latitude();
389 double user_longitude = manager->get_user_longitude();
390 double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
391 double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
392 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
395 // Test whether the target is within radar range.
397 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
399 if ( in_range || force_on ) {
400 props->setBoolValue("radar/in-range", true);
402 // copy values from the AIManager
403 double user_altitude = manager->get_user_altitude();
404 double user_heading = manager->get_user_heading();
405 double user_pitch = manager->get_user_pitch();
406 //double user_yaw = manager->get_user_yaw();
407 //double user_speed = manager->get_user_speed();
409 // calculate range to target in feet and nautical miles
410 double range_ft = sqrt( range_ft2 );
411 range = range_ft / 6076.11549;
413 // calculate bearing to target
414 if (pos.getLatitudeDeg() >= user_latitude) {
415 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
416 if (pos.getLongitudeDeg() >= user_longitude) {
417 bearing = 90.0 - bearing;
419 bearing = 270.0 + bearing;
422 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
423 if (pos.getLongitudeDeg() >= user_longitude) {
424 bearing = 180.0 - bearing;
426 bearing = 180.0 + bearing;
430 // This is an alternate way to compute bearing and distance which
431 // agrees with the original scheme within about 0.1 degrees.
433 // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
434 // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
435 // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
436 // double gc_bearing, gc_range;
437 // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
438 // gc_range *= SG_METER_TO_NM;
439 // gc_bearing *= SGD_RADIANS_TO_DEGREES;
440 // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
441 // bearing, range, gc_bearing, gc_range);
443 // calculate look left/right to target, without yaw correction
444 horiz_offset = bearing - user_heading;
445 if (horiz_offset > 180.0) horiz_offset -= 360.0;
446 if (horiz_offset < -180.0) horiz_offset += 360.0;
448 // calculate elevation to target
449 elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
451 // calculate look up/down to target
452 vert_offset = elevation - user_pitch;
454 /* this calculation needs to be fixed, but it isn't important anyway
455 // calculate range rate
456 double recip_bearing = bearing + 180.0;
457 if (recip_bearing > 360.0) recip_bearing -= 360.0;
458 double my_horiz_offset = recip_bearing - hdg;
459 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
460 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
461 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
462 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
465 // now correct look left/right for yaw
466 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
468 // calculate values for radar display
469 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
470 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
471 rotation = hdg - user_heading;
472 if (rotation < 0.0) rotation += 360.0;
473 ht_diff = altitude_ft - user_altitude;
481 * Getters and Setters
484 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
485 // Transform that one to the horizontal local coordinate system.
486 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
488 // and postrotate the orientation of the AIModel wrt the horizontal
490 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
492 // The offset converted to the usual body fixed coordinate system
493 // rotated to the earth fixed coordinates axis
494 SGVec3d off = hlTrans.backTransform(_off);
496 // Add the position offset of the AIModel to gain the earth centered position
497 SGVec3d cartPos = SGVec3d::fromGeod(pos);
499 return cartPos + off;
502 SGVec3d FGAIBase::getCartPos() const {
503 SGVec3d cartPos = SGVec3d::fromGeod(pos);
507 bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
508 const SGMaterial** material) const {
509 return globals->get_scenery()->get_elevation_m(pos, elev, material,
513 double FGAIBase::_getCartPosX() const {
514 SGVec3d cartPos = getCartPos();
518 double FGAIBase::_getCartPosY() const {
519 SGVec3d cartPos = getCartPos();
523 double FGAIBase::_getCartPosZ() const {
524 SGVec3d cartPos = getCartPos();
528 void FGAIBase::_setLongitude( double longitude ) {
529 pos.setLongitudeDeg(longitude);
532 void FGAIBase::_setLatitude ( double latitude ) {
533 pos.setLatitudeDeg(latitude);
536 void FGAIBase::_setUserPos(){
537 userpos.setLatitudeDeg(manager->get_user_latitude());
538 userpos.setLongitudeDeg(manager->get_user_longitude());
539 userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
542 void FGAIBase::_setSubID( int s ) {
546 bool FGAIBase::setParentNode() {
549 SG_LOG(SG_GENERAL, SG_ALERT, "AIBase: " << _name
550 << " parent not set ");
554 const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
556 for (int i = ai->nChildren() - 1; i >= -1; i--) {
557 SGPropertyNode_ptr model;
559 if (i < 0) { // last iteration: selected model
560 model = _selected_ac;
562 model = ai->getChild(i);
563 string path = ai->getPath();
564 const string name = model->getStringValue("name");
566 if (!model->nChildren()){
569 if (name == _parent) {
570 _selected_ac = model; // save selected model for last iteration
580 if (_selected_ac != 0){
581 const string name = _selected_ac->getStringValue("name");
584 SG_LOG(SG_GENERAL, SG_ALERT, "AIBase: " << _name
585 << " parent not found: dying ");
592 double FGAIBase::_getLongitude() const {
593 return pos.getLongitudeDeg();
596 double FGAIBase::_getLatitude() const {
597 return pos.getLatitudeDeg();
600 double FGAIBase::_getElevationFt() const {
601 return pos.getElevationFt();
604 double FGAIBase::_getRdot() const {
608 double FGAIBase::_getVS_fps() const {
612 double FGAIBase::_get_speed_east_fps() const {
613 return speed_east_deg_sec * ft_per_deg_lon;
616 double FGAIBase::_get_speed_north_fps() const {
617 return speed_north_deg_sec * ft_per_deg_lat;
620 void FGAIBase::_setVS_fps( double _vs ) {
624 double FGAIBase::_getAltitude() const {
628 double FGAIBase::_getAltitudeAGL(SGGeod inpos, double start){
629 getGroundElevationM(SGGeod::fromGeodM(inpos, start),
630 _elevation_m, &_material);
631 return inpos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
634 bool FGAIBase::_getServiceable() const {
638 SGPropertyNode* FGAIBase::_getProps() const {
642 void FGAIBase::_setAltitude( double _alt ) {
646 bool FGAIBase::_isNight() {
647 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
650 bool FGAIBase::_getCollisionData() {
651 return _collision_reported;
654 bool FGAIBase::_getExpiryData() {
655 return _expiry_reported;
658 bool FGAIBase::_getImpactData() {
659 return _impact_reported;
662 double FGAIBase::_getImpactLat() const {
666 double FGAIBase::_getImpactLon() const {
670 double FGAIBase::_getImpactElevFt() const {
671 return _impact_elev * SG_METER_TO_FEET;
674 double FGAIBase::_getImpactPitch() const {
675 return _impact_pitch;
678 double FGAIBase::_getImpactRoll() const {
682 double FGAIBase::_getImpactHdg() const {
686 double FGAIBase::_getImpactSpeed() const {
687 return _impact_speed;
690 int FGAIBase::getID() const {
694 int FGAIBase::_getSubID() const {
698 double FGAIBase::_getSpeed() const {
702 double FGAIBase::_getRoll() const {
706 double FGAIBase::_getPitch() const {
710 double FGAIBase::_getHeading() const {
714 double FGAIBase::_getXOffset() const {
718 double FGAIBase::_getYOffset() const {
722 double FGAIBase::_getZOffset() const {
726 const char* FGAIBase::_getPath() const {
727 return model_path.c_str();
730 const char* FGAIBase::_getSMPath() const {
731 return _path.c_str();
734 const char* FGAIBase::_getName() const {
735 return _name.c_str();
738 const char* FGAIBase::_getCallsign() const {
739 return _callsign.c_str();
742 const char* FGAIBase::_getSubmodel() const {
743 return _submodel.c_str();
746 void FGAIBase::CalculateMach() {
747 // Calculate rho at altitude, using standard atmosphere
748 // For the temperature T and the pressure p,
749 double altitude = altitude_ft;
751 if (altitude < 36152) { // curve fits for the troposphere
752 T = 59 - 0.00356 * altitude;
753 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
754 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
756 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
757 } else { // upper stratosphere
758 T = -205.05 + (0.00164 * altitude);
759 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
762 rho = p / (1718 * (T + 459.7));
764 // calculate the speed of sound at altitude
765 // a = sqrt ( g * R * (T + 459.7))
767 // a = speed of sound [ft/s]
768 // g = specific heat ratio, which is usually equal to 1.4
769 // R = specific gas constant, which equals 1716 ft-lb/slug/R
770 a = sqrt ( 1.4 * 1716 * (T + 459.7));
772 // calculate Mach number
775 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
778 int FGAIBase::_newAIModelID() {
782 id++; // id = 0 is not allowed.