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.
29 #include <simgear/compiler.h>
33 #include <osg/ref_ptr>
35 #include <osgDB/FileUtils>
37 #include <simgear/misc/sg_path.hxx>
38 #include <simgear/scene/model/modellib.hxx>
39 #include <simgear/scene/util/SGNodeMasks.hxx>
40 #include <simgear/debug/logstream.hxx>
41 #include <simgear/props/props.hxx>
43 #include <Main/globals.hxx>
44 #include <Scenery/scenery.hxx>
45 #include <Scripting/NasalSys.hxx>
46 #include <Scripting/NasalModelData.hxx>
47 #include <Sound/fg_fx.hxx>
50 #include "AIManager.hxx"
52 const char *default_model = "Models/Geometry/glider.ac";
53 const double FGAIBase::e = 2.71828183;
54 const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
57 using namespace simgear;
59 class FGAIModelData : public simgear::SGModelData {
61 FGAIModelData(SGPropertyNode *root = NULL)
62 : _nasal( new FGNasalModelDataProxy(root) ),
73 virtual FGAIModelData* clone() const { return new FGAIModelData(); }
75 /** osg callback, thread-safe */
76 void modelLoaded(const std::string& path, SGPropertyNode *prop, osg::Node *n)
78 // WARNING: Called in a separate OSG thread! Only use thread-safe stuff here...
82 _fxpath = prop->getStringValue("sound/path");
83 _nasal->modelLoaded(path, prop, n);
89 /** init hook to be called after model is loaded.
90 * Not thread-safe. Call from main thread only. */
91 void init(void) { _initialized = true; }
93 bool needInitilization(void) { return _ready && !_initialized;}
94 bool isInitialized(void) { return _initialized;}
95 inline std::string& get_sound_path() { return _fxpath;}
98 std::auto_ptr<FGNasalModelDataProxy> _nasal;
104 FGAIBase::FGAIBase(object_type ot, bool enableHot) :
109 model_removed( fgGetNode("/ai/models/model-removed", true) ),
120 _refID( _newAIModelID() ),
126 tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
127 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
128 bearing = elevation = range = rdot = 0.0;
129 x_shift = y_shift = rotation = 0.0;
135 _impact_reported = false;
136 _collision_reported = false;
137 _expiry_reported = false;
149 pos = SGGeod::fromDeg(0, 0);
152 speed_north_deg_sec = 0;
153 speed_east_deg_sec = 0;
173 // explicitly disable HOT for (most) AI models
175 aip.getSceneGraph()->setNodeMask(~SG_NODEMASK_TERRAIN_BIT);
178 FGAIBase::~FGAIBase() {
179 // Unregister that one at the scenery manager
183 SGPropertyNode* parent = props->getParent();
186 model_removed->setStringValue(props->getPath());
196 /** Cleanly remove the model
197 * and let the scenery database pager do the clean-up work.
200 FGAIBase::removeModel()
205 FGScenery* pSceneryManager = globals->get_scenery();
208 osg::ref_ptr<osg::Object> temp = _model.get();
209 pSceneryManager->get_scene_graph()->removeChild(aip.getSceneGraph());
210 // withdraw from SGModelPlacement and drop own reference (unref)
213 // pass it on to the pager, to be be deleted in the pager thread
214 pSceneryManager->getPager()->queueDeleteRequest(temp);
218 SG_LOG(SG_AI, SG_ALERT, "AIBase: Could not unload model. Missing scenery manager!");
222 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
227 setPath(scFileNode->getStringValue("model",
228 fgGetString("/sim/multiplay/default-model", default_model)));
230 setHeading(scFileNode->getDoubleValue("heading", 0.0));
231 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
232 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
233 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
234 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
235 setBank(scFileNode->getDoubleValue("roll", 0.0));
237 SGPropertyNode* submodels = scFileNode->getChild("submodels");
240 setServiceable(submodels->getBoolValue("serviceable", false));
241 setSMPath(submodels->getStringValue("path", ""));
246 void FGAIBase::update(double dt) {
248 if (_otype == otStatic)
251 if (_otype == otBallistic)
254 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
255 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
259 // update model's audio sample values
260 _fx->set_position_geod( pos );
262 SGQuatd orient = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
263 _fx->set_orientation( orient );
266 velocity = SGVec3d( speed_north_deg_sec, speed_east_deg_sec,
268 _fx->set_velocity( velocity );
270 else if ((_modeldata)&&(_modeldata->needInitilization()))
272 // process deferred nasal initialization,
273 // which must be done in main thread
276 // sound initialization
277 if (fgGetBool("/sim/sound/aimodels/enabled",false))
279 const string& fxpath = _modeldata->get_sound_path();
282 props->setStringValue("sim/sound/path", fxpath.c_str());
284 // initialize the sound configuration
285 std::stringstream name;
288 _fx = new FGFX(name.str(), props);
295 /** update LOD properties of the model */
296 void FGAIBase::updateLOD()
298 double maxRangeDetail = fgGetDouble("/sim/rendering/static-lod/ai-detailed", 10000.0);
299 double maxRangeBare = fgGetDouble("/sim/rendering/static-lod/ai-bare", 20000.0);
302 if( maxRangeDetail == 0.0 )
305 _model->setRange(0, 0.0, FLT_MAX);
306 _model->setRange(1, FLT_MAX, FLT_MAX);
310 _model->setRange(0, 0.0, maxRangeDetail);
311 _model->setRange(1, maxRangeDetail,maxRangeBare);
316 void FGAIBase::Transform() {
319 aip.setVisible(true);
320 aip.setPosition(pos);
323 aip.setOrientation(0.0, pitch, hdg);
325 aip.setOrientation(roll, pitch, hdg);
329 aip.setVisible(false);
335 bool FGAIBase::init(bool search_in_AI_path)
339 SG_LOG(SG_AI, SG_ALERT, "AIBase: Cannot initialize a model multiple times! " << model_path);
344 if(search_in_AI_path)
346 // setup a modified Options structure, with only the $fg-root/AI defined;
347 // we'll check that first, then give the normal search logic a chance.
348 // this ensures that models in AI/ are preferred to normal models, where
350 osg::ref_ptr<osgDB::ReaderWriter::Options>
351 opt(osg::clone(osgDB::Registry::instance()->getOptions(), osg::CopyOp::SHALLOW_COPY));
353 SGPath ai_path(globals->get_fg_root(), "AI");
354 opt->setDatabasePath(ai_path.str());
356 f = osgDB::findDataFile(model_path, opt.get());
360 f = simgear::SGModelLib::findDataFile(model_path);
364 f = fgGetString("/sim/multiplay/default-model", default_model);
368 _modeldata = new FGAIModelData(props);
369 osg::Node * mdl = SGModelLib::loadDeferredModel(f, props, _modeldata);
371 _model = new osg::LOD;
372 _model->setName("AI-model range animation node");
374 _model->addChild( mdl, 0, FLT_MAX );
375 _model->setCenterMode(osg::LOD::USE_BOUNDING_SPHERE_CENTER);
376 _model->setRangeMode(osg::LOD::DISTANCE_FROM_EYE_POINT);
377 // We really need low-resolution versions of AI/MP aircraft.
378 // Or at least dummy "stubs" with some default silhouette.
379 // _model->addChild( SGModelLib::loadPagedModel(fgGetString("/sim/multiplay/default-model", default_model),
380 // props, new FGNasalModelData(props)), FLT_MAX, FLT_MAX);
384 if (_model.valid() && _initialized == false) {
385 aip.init( _model.get() );
386 aip.setVisible(true);
388 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
391 SG_LOG(SG_AI, SG_DEBUG, "AIBase: Loaded model " << model_path);
393 } else if (!model_path.empty()) {
394 SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path);
395 // not properly installed...
403 void FGAIBase::initModel(osg::Node *node)
405 if (_model.valid()) {
408 props->setStringValue("submodels/path", _path.c_str());
409 SG_LOG(SG_AI, SG_DEBUG, "AIBase: submodels/path " << _path);
413 props->setStringValue("parent-name", _parent.c_str());
416 fgSetString("/ai/models/model-added", props->getPath().c_str());
417 } else if (!model_path.empty()) {
418 SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path);
425 bool FGAIBase::isa( object_type otype ) {
426 return otype == _otype;
430 void FGAIBase::bind() {
431 _tiedProperties.setRoot(props);
432 tie("id", SGRawValueMethods<FGAIBase,int>(*this,
434 tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
435 tie("velocities/vertical-speed-fps",
436 SGRawValueMethods<FGAIBase,double>(*this,
437 &FGAIBase::_getVS_fps,
438 &FGAIBase::_setVS_fps));
440 tie("position/altitude-ft",
441 SGRawValueMethods<FGAIBase,double>(*this,
442 &FGAIBase::_getAltitude,
443 &FGAIBase::_setAltitude));
444 tie("position/latitude-deg",
445 SGRawValueMethods<FGAIBase,double>(*this,
446 &FGAIBase::_getLatitude,
447 &FGAIBase::_setLatitude));
448 tie("position/longitude-deg",
449 SGRawValueMethods<FGAIBase,double>(*this,
450 &FGAIBase::_getLongitude,
451 &FGAIBase::_setLongitude));
453 tie("position/global-x",
454 SGRawValueMethods<FGAIBase,double>(*this,
455 &FGAIBase::_getCartPosX,
457 tie("position/global-y",
458 SGRawValueMethods<FGAIBase,double>(*this,
459 &FGAIBase::_getCartPosY,
461 tie("position/global-z",
462 SGRawValueMethods<FGAIBase,double>(*this,
463 &FGAIBase::_getCartPosZ,
466 SGRawValueMethods<FGAIBase,const char*>(*this,
467 &FGAIBase::_getCallsign,
470 tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
471 tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
472 tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
474 tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
475 tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
476 tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
477 tie("radar/range-nm", SGRawValuePointer<double>(&range));
478 tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
479 tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
480 tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
481 tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
482 tie("radar/rotation", SGRawValuePointer<double>(&rotation));
483 tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
484 tie("subID", SGRawValuePointer<int>(&_subID));
485 tie("controls/lighting/nav-lights", SGRawValueFunctions<bool>(_isNight));
487 props->setBoolValue("controls/lighting/beacon", true);
488 props->setBoolValue("controls/lighting/strobe", true);
489 props->setBoolValue("controls/glide-path", true);
491 props->setStringValue("controls/flight/lateral-mode", "roll");
492 props->setDoubleValue("controls/flight/target-hdg", hdg);
493 props->setDoubleValue("controls/flight/target-roll", roll);
495 props->setStringValue("controls/flight/longitude-mode", "alt");
496 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
497 props->setDoubleValue("controls/flight/target-pitch", pitch);
499 props->setDoubleValue("controls/flight/target-spd", speed);
501 props->setBoolValue("sim/sound/avionics/enabled", false);
502 props->setDoubleValue("sim/sound/avionics/volume", 0.0);
503 props->setBoolValue("sim/sound/avionics/external-view", false);
504 props->setBoolValue("sim/current-view/internal", false);
507 void FGAIBase::unbind() {
508 _tiedProperties.Untie();
510 props->setBoolValue("/sim/controls/radar", true);
515 void FGAIBase::removeSoundFx() {
516 // drop reference to sound effects now
519 // must remove explicitly - since the sound manager also keeps a reference
521 // now drop last reference - kill the object
526 double FGAIBase::UpdateRadar(FGAIManager* manager)
528 bool control = fgGetBool("/sim/controls/radar", true);
530 if(!control) return 0;
532 double radar_range_m = fgGetDouble("/instrumentation/radar/range");
533 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
534 radar_range_m *= SG_NM_TO_METER * 1.1; // + 10%
535 radar_range_m *= radar_range_m; // squared
537 double d2 = distSqr(SGVec3d::fromGeod(pos), globals->get_aircraft_position_cart());
538 double range_ft = sqrt(d2) * SG_METER_TO_FEET;
540 if (!force_on && (d2 > radar_range_m)) {
541 return range_ft * range_ft;
544 props->setBoolValue("radar/in-range", true);
546 // copy values from the AIManager
547 double user_heading = manager->get_user_heading();
548 double user_pitch = manager->get_user_pitch();
550 range = range_ft * SG_FEET_TO_METER * SG_METER_TO_NM;
552 // calculate bearing to target
553 bearing = SGGeodesy::courseDeg(globals->get_aircraft_position(), pos);
555 // calculate look left/right to target, without yaw correction
556 horiz_offset = bearing - user_heading;
557 SG_NORMALIZE_RANGE(horiz_offset, -180.0, 180.0);
559 // calculate elevation to target
560 ht_diff = altitude_ft - globals->get_aircraft_position().getElevationFt();
561 elevation = atan2( ht_diff, range_ft ) * SG_RADIANS_TO_DEGREES;
563 // calculate look up/down to target
564 vert_offset = elevation - user_pitch;
566 /* this calculation needs to be fixed, but it isn't important anyway
567 // calculate range rate
568 double recip_bearing = bearing + 180.0;
569 if (recip_bearing > 360.0) recip_bearing -= 360.0;
570 double my_horiz_offset = recip_bearing - hdg;
571 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
572 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
573 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
574 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
577 // now correct look left/right for yaw
578 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
580 // calculate values for radar display
581 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
582 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
584 rotation = hdg - user_heading;
585 SG_NORMALIZE_RANGE(rotation, 0.0, 360.0);
587 return range_ft * range_ft;
591 * Getters and Setters
594 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
595 // Transform that one to the horizontal local coordinate system.
596 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
598 // and postrotate the orientation of the AIModel wrt the horizontal
600 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
602 // The offset converted to the usual body fixed coordinate system
603 // rotated to the earth fixed coordinates axis
604 SGVec3d off = hlTrans.backTransform(_off);
606 // Add the position offset of the AIModel to gain the earth centered position
607 SGVec3d cartPos = SGVec3d::fromGeod(pos);
609 return cartPos + off;
612 SGVec3d FGAIBase::getCartPos() const {
613 SGVec3d cartPos = SGVec3d::fromGeod(pos);
617 bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
618 const simgear::BVHMaterial** material) const {
619 return globals->get_scenery()->get_elevation_m(pos, elev, material,
623 double FGAIBase::_getCartPosX() const {
624 SGVec3d cartPos = getCartPos();
628 double FGAIBase::_getCartPosY() const {
629 SGVec3d cartPos = getCartPos();
633 double FGAIBase::_getCartPosZ() const {
634 SGVec3d cartPos = getCartPos();
638 void FGAIBase::_setLongitude( double longitude ) {
639 pos.setLongitudeDeg(longitude);
642 void FGAIBase::_setLatitude ( double latitude ) {
643 pos.setLatitudeDeg(latitude);
646 void FGAIBase::_setSubID( int s ) {
650 bool FGAIBase::setParentNode() {
653 SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name
654 << " parent not set ");
658 const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
660 for (int i = ai->nChildren() - 1; i >= -1; i--) {
661 SGPropertyNode_ptr model;
663 if (i < 0) { // last iteration: selected model
664 model = _selected_ac;
666 model = ai->getChild(i);
667 //const string& path = ai->getPath();
668 const string name = model->getStringValue("name");
670 if (!model->nChildren()){
673 if (name == _parent) {
674 _selected_ac = model; // save selected model for last iteration
684 if (_selected_ac != 0){
685 const string name = _selected_ac->getStringValue("name");
688 SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name
689 << " parent not found: dying ");
696 double FGAIBase::_getLongitude() const {
697 return pos.getLongitudeDeg();
700 double FGAIBase::_getLatitude() const {
701 return pos.getLatitudeDeg();
704 double FGAIBase::_getElevationFt() const {
705 return pos.getElevationFt();
708 double FGAIBase::_getRdot() const {
712 double FGAIBase::_getVS_fps() const {
716 double FGAIBase::_get_speed_east_fps() const {
717 return speed_east_deg_sec * ft_per_deg_lon;
720 double FGAIBase::_get_speed_north_fps() const {
721 return speed_north_deg_sec * ft_per_deg_lat;
724 void FGAIBase::_setVS_fps( double _vs ) {
728 double FGAIBase::_getAltitude() const {
732 double FGAIBase::_getAltitudeAGL(SGGeod inpos, double start){
733 getGroundElevationM(SGGeod::fromGeodM(inpos, start),
735 return inpos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
738 bool FGAIBase::_getServiceable() const {
742 SGPropertyNode* FGAIBase::_getProps() const {
746 void FGAIBase::_setAltitude( double _alt ) {
750 bool FGAIBase::_isNight() {
751 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
754 bool FGAIBase::_getCollisionData() {
755 return _collision_reported;
758 bool FGAIBase::_getExpiryData() {
759 return _expiry_reported;
762 bool FGAIBase::_getImpactData() {
763 return _impact_reported;
766 double FGAIBase::_getImpactLat() const {
770 double FGAIBase::_getImpactLon() const {
774 double FGAIBase::_getImpactElevFt() const {
775 return _impact_elev * SG_METER_TO_FEET;
778 double FGAIBase::_getImpactPitch() const {
779 return _impact_pitch;
782 double FGAIBase::_getImpactRoll() const {
786 double FGAIBase::_getImpactHdg() const {
790 double FGAIBase::_getImpactSpeed() const {
791 return _impact_speed;
794 int FGAIBase::getID() const {
798 int FGAIBase::_getSubID() const {
802 double FGAIBase::_getSpeed() const {
806 double FGAIBase::_getRoll() const {
810 double FGAIBase::_getPitch() const {
814 double FGAIBase::_getHeading() const {
818 double FGAIBase::_getXOffset() const {
822 double FGAIBase::_getYOffset() const {
826 double FGAIBase::_getZOffset() const {
830 const char* FGAIBase::_getPath() const {
831 return model_path.c_str();
834 const char* FGAIBase::_getSMPath() const {
835 return _path.c_str();
838 const char* FGAIBase::_getName() const {
839 return _name.c_str();
842 const char* FGAIBase::_getCallsign() const {
843 return _callsign.c_str();
846 const char* FGAIBase::_getSubmodel() const {
847 return _submodel.c_str();
850 void FGAIBase::CalculateMach() {
851 // Calculate rho at altitude, using standard atmosphere
852 // For the temperature T and the pressure p,
853 double altitude = altitude_ft;
855 if (altitude < 36152) { // curve fits for the troposphere
856 T = 59 - 0.00356 * altitude;
857 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
858 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
860 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
861 } else { // upper stratosphere
862 T = -205.05 + (0.00164 * altitude);
863 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
866 rho = p / (1718 * (T + 459.7));
868 // calculate the speed of sound at altitude
869 // a = sqrt ( g * R * (T + 459.7))
871 // a = speed of sound [ft/s]
872 // g = specific heat ratio, which is usually equal to 1.4
873 // R = specific gas constant, which equals 1716 ft-lb/slug/R
874 a = sqrt ( 1.4 * 1716 * (T + 459.7));
876 // calculate Mach number
879 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
882 int FGAIBase::_newAIModelID() {
886 id++; // id = 0 is not allowed.