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, bool enableHot) :
60 model_removed( fgGetNode("/ai/models/model-removed", true) ),
71 _refID( _newAIModelID() ),
76 tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
77 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
78 bearing = elevation = range = rdot = 0.0;
79 x_shift = y_shift = rotation = 0.0;
85 _impact_reported = false;
86 _collision_reported = false;
87 _expiry_reported = false;
99 userpos = SGGeod::fromDeg(0, 0);
101 pos = SGGeod::fromDeg(0, 0);
104 speed_north_deg_sec = 0;
105 speed_east_deg_sec = 0;
125 // explicitly disable HOT for (most) AI models
127 aip.getSceneGraph()->setNodeMask(~SG_NODEMASK_TERRAIN_BIT);
130 FGAIBase::~FGAIBase() {
131 // Unregister that one at the scenery manager
135 SGPropertyNode* parent = props->getParent();
138 model_removed->setStringValue(props->getPath());
144 /** Cleanly remove the model
145 * and let the scenery database pager do the clean-up work.
148 FGAIBase::removeModel()
150 FGScenery* pSceneryManager = globals->get_scenery();
153 osg::ref_ptr<osg::Object> temp = _model.get();
154 pSceneryManager->get_scene_graph()->removeChild(aip.getSceneGraph());
155 // withdraw from SGModelPlacement and drop own reference (unref)
158 // pass it on to the pager, to be be deleted in the pager thread
159 pSceneryManager->getPagerSingleton()->queueDeleteRequest(temp);
163 SG_LOG(SG_AI, SG_ALERT, "AIBase: Could not unload model. Missing scenery manager!");
167 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
172 setPath(scFileNode->getStringValue("model",
173 fgGetString("/sim/multiplay/default-model", default_model)));
175 setHeading(scFileNode->getDoubleValue("heading", 0.0));
176 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
177 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
178 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
179 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
180 setBank(scFileNode->getDoubleValue("roll", 0.0));
182 SGPropertyNode* submodels = scFileNode->getChild("submodels");
185 setServiceable(submodels->getBoolValue("serviceable", false));
186 setSMPath(submodels->getStringValue("path", ""));
191 void FGAIBase::update(double dt) {
193 if (_otype == otStatic)
196 if (_otype == otBallistic)
199 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
200 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
203 /** update LOD properties of the model */
204 void FGAIBase::updateLOD()
206 double maxRangeDetail = fgGetDouble("/sim/rendering/static-lod/ai-detailed", 10000.0);
207 double maxRangeBare = fgGetDouble("/sim/rendering/static-lod/ai-bare", 20000.0);
210 if( maxRangeDetail == 0.0 )
213 _model->setRange(0, 0.0, FLT_MAX);
214 _model->setRange(1, FLT_MAX, FLT_MAX);
218 _model->setRange(0, 0.0, maxRangeDetail);
219 _model->setRange(1, maxRangeDetail,maxRangeBare);
224 void FGAIBase::Transform() {
227 aip.setVisible(true);
228 aip.setPosition(pos);
231 aip.setOrientation(0.0, pitch, hdg);
233 aip.setOrientation(roll, pitch, hdg);
237 aip.setVisible(false);
243 bool FGAIBase::init(bool search_in_AI_path) {
246 if(search_in_AI_path)
248 // setup a modified Options structure, with only the $fg-root/AI defined;
249 // we'll check that first, then give the normal search logic a chance.
250 // this ensures that models in AI/ are preferred to normal models, where
252 osg::ref_ptr<osgDB::ReaderWriter::Options>
253 opt(osg::clone(osgDB::Registry::instance()->getOptions(), osg::CopyOp::SHALLOW_COPY));
255 SGPath ai_path(globals->get_fg_root(), "AI");
256 opt->setDatabasePath(ai_path.str());
258 f = osgDB::findDataFile(model_path, opt.get());
262 f = simgear::SGModelLib::findDataFile(model_path);
266 f = fgGetString("/sim/multiplay/default-model", default_model);
270 osg::Node * mdl = SGModelLib::loadDeferredModel(f, props, new FGNasalModelData(props));
274 // reinit, dump the old model
278 _model = new osg::LOD;
279 _model->setName("AI-model range animation node");
281 _model->addChild( mdl, 0, FLT_MAX );
282 _model->setCenterMode(osg::LOD::USE_BOUNDING_SPHERE_CENTER);
283 _model->setRangeMode(osg::LOD::DISTANCE_FROM_EYE_POINT);
284 // We really need low-resolution versions of AI/MP aircraft.
285 // Or at least dummy "stubs" with some default silhouette.
286 // _model->addChild( SGModelLib::loadPagedModel(fgGetString("/sim/multiplay/default-model", default_model),
287 // props, new FGNasalModelData(props)), FLT_MAX, FLT_MAX);
291 if (_model.valid() && _initialized == false) {
292 aip.init( _model.get() );
293 aip.setVisible(true);
295 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
298 } else if (!model_path.empty()) {
299 SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path);
300 // not properly installed...
308 void FGAIBase::initModel(osg::Node *node)
310 if (_model.valid()) {
313 props->setStringValue("submodels/path", _path.c_str());
314 SG_LOG(SG_AI, SG_DEBUG, "AIBase: submodels/path " << _path);
318 props->setStringValue("parent-name", _parent.c_str());
321 fgSetString("/ai/models/model-added", props->getPath().c_str());
322 } else if (!model_path.empty()) {
323 SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path);
330 bool FGAIBase::isa( object_type otype ) {
331 return otype == _otype;
335 void FGAIBase::bind() {
336 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
338 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
339 props->tie("velocities/vertical-speed-fps",
340 SGRawValueMethods<FGAIBase,double>(*this,
341 &FGAIBase::_getVS_fps,
342 &FGAIBase::_setVS_fps));
344 props->tie("position/altitude-ft",
345 SGRawValueMethods<FGAIBase,double>(*this,
346 &FGAIBase::_getAltitude,
347 &FGAIBase::_setAltitude));
348 props->tie("position/latitude-deg",
349 SGRawValueMethods<FGAIBase,double>(*this,
350 &FGAIBase::_getLatitude,
351 &FGAIBase::_setLatitude));
352 props->tie("position/longitude-deg",
353 SGRawValueMethods<FGAIBase,double>(*this,
354 &FGAIBase::_getLongitude,
355 &FGAIBase::_setLongitude));
357 props->tie("position/global-x",
358 SGRawValueMethods<FGAIBase,double>(*this,
359 &FGAIBase::_getCartPosX,
361 props->tie("position/global-y",
362 SGRawValueMethods<FGAIBase,double>(*this,
363 &FGAIBase::_getCartPosY,
365 props->tie("position/global-z",
366 SGRawValueMethods<FGAIBase,double>(*this,
367 &FGAIBase::_getCartPosZ,
369 props->tie("callsign",
370 SGRawValueMethods<FGAIBase,const char*>(*this,
371 &FGAIBase::_getCallsign,
374 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
375 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
376 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
378 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
379 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
380 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
381 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
382 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
383 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
384 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
385 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
386 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
387 props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
388 props->tie("subID", SGRawValuePointer<int>(&_subID));
389 props->tie("controls/lighting/nav-lights",
390 SGRawValueFunctions<bool>(_isNight));
391 props->setBoolValue("controls/lighting/beacon", true);
392 props->setBoolValue("controls/lighting/strobe", true);
393 props->setBoolValue("controls/glide-path", true);
395 props->setStringValue("controls/flight/lateral-mode", "roll");
396 props->setDoubleValue("controls/flight/target-hdg", hdg);
397 props->setDoubleValue("controls/flight/target-roll", roll);
399 props->setStringValue("controls/flight/longitude-mode", "alt");
400 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
401 props->setDoubleValue("controls/flight/target-pitch", pitch);
403 props->setDoubleValue("controls/flight/target-spd", speed);
407 void FGAIBase::unbind() {
409 props->untie("velocities/true-airspeed-kt");
410 props->untie("velocities/vertical-speed-fps");
412 props->untie("position/altitude-ft");
413 props->untie("position/latitude-deg");
414 props->untie("position/longitude-deg");
415 props->untie("position/global-x");
416 props->untie("position/global-y");
417 props->untie("position/global-z");
418 props->untie("callsign");
420 props->untie("orientation/pitch-deg");
421 props->untie("orientation/roll-deg");
422 props->untie("orientation/true-heading-deg");
424 props->untie("radar/in-range");
425 props->untie("radar/bearing-deg");
426 props->untie("radar/elevation-deg");
427 props->untie("radar/range-nm");
428 props->untie("radar/h-offset");
429 props->untie("radar/v-offset");
430 props->untie("radar/x-shift");
431 props->untie("radar/y-shift");
432 props->untie("radar/rotation");
433 props->untie("radar/ht-diff-ft");
435 props->untie("controls/lighting/nav-lights");
437 props->setBoolValue("/sim/controls/radar/", true);
441 double FGAIBase::UpdateRadar(FGAIManager* manager) {
442 bool control = fgGetBool("/sim/controls/radar", true);
444 if(!control) return 0;
446 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
447 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
448 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
449 radar_range_ft2 *= radar_range_ft2;
451 double user_latitude = manager->get_user_latitude();
452 double user_longitude = manager->get_user_longitude();
453 double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
454 double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
455 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
458 // Test whether the target is within radar range.
460 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
462 if ( in_range || force_on ) {
463 props->setBoolValue("radar/in-range", true);
465 // copy values from the AIManager
466 double user_altitude = manager->get_user_altitude();
467 double user_heading = manager->get_user_heading();
468 double user_pitch = manager->get_user_pitch();
469 //double user_yaw = manager->get_user_yaw();
470 //double user_speed = manager->get_user_speed();
472 // calculate range to target in feet and nautical miles
473 double range_ft = sqrt( range_ft2 );
474 range = range_ft / 6076.11549;
476 // calculate bearing to target
477 if (pos.getLatitudeDeg() >= user_latitude) {
478 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
479 if (pos.getLongitudeDeg() >= user_longitude) {
480 bearing = 90.0 - bearing;
482 bearing = 270.0 + bearing;
485 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
486 if (pos.getLongitudeDeg() >= user_longitude) {
487 bearing = 180.0 - bearing;
489 bearing = 180.0 + bearing;
493 // This is an alternate way to compute bearing and distance which
494 // agrees with the original scheme within about 0.1 degrees.
496 // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
497 // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
498 // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
499 // double gc_bearing, gc_range;
500 // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
501 // gc_range *= SG_METER_TO_NM;
502 // gc_bearing *= SGD_RADIANS_TO_DEGREES;
503 // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
504 // bearing, range, gc_bearing, gc_range);
506 // calculate look left/right to target, without yaw correction
507 horiz_offset = bearing - user_heading;
508 if (horiz_offset > 180.0) horiz_offset -= 360.0;
509 if (horiz_offset < -180.0) horiz_offset += 360.0;
511 // calculate elevation to target
512 elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
514 // calculate look up/down to target
515 vert_offset = elevation - user_pitch;
517 /* this calculation needs to be fixed, but it isn't important anyway
518 // calculate range rate
519 double recip_bearing = bearing + 180.0;
520 if (recip_bearing > 360.0) recip_bearing -= 360.0;
521 double my_horiz_offset = recip_bearing - hdg;
522 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
523 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
524 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
525 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
528 // now correct look left/right for yaw
529 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
531 // calculate values for radar display
532 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
533 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
534 rotation = hdg - user_heading;
535 if (rotation < 0.0) rotation += 360.0;
536 ht_diff = altitude_ft - user_altitude;
544 * Getters and Setters
547 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
548 // Transform that one to the horizontal local coordinate system.
549 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
551 // and postrotate the orientation of the AIModel wrt the horizontal
553 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
555 // The offset converted to the usual body fixed coordinate system
556 // rotated to the earth fixed coordinates axis
557 SGVec3d off = hlTrans.backTransform(_off);
559 // Add the position offset of the AIModel to gain the earth centered position
560 SGVec3d cartPos = SGVec3d::fromGeod(pos);
562 return cartPos + off;
565 SGVec3d FGAIBase::getCartPos() const {
566 SGVec3d cartPos = SGVec3d::fromGeod(pos);
570 bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
571 const SGMaterial** material) const {
572 return globals->get_scenery()->get_elevation_m(pos, elev, material,
576 double FGAIBase::_getCartPosX() const {
577 SGVec3d cartPos = getCartPos();
581 double FGAIBase::_getCartPosY() const {
582 SGVec3d cartPos = getCartPos();
586 double FGAIBase::_getCartPosZ() const {
587 SGVec3d cartPos = getCartPos();
591 void FGAIBase::_setLongitude( double longitude ) {
592 pos.setLongitudeDeg(longitude);
595 void FGAIBase::_setLatitude ( double latitude ) {
596 pos.setLatitudeDeg(latitude);
599 void FGAIBase::_setUserPos(){
600 userpos.setLatitudeDeg(manager->get_user_latitude());
601 userpos.setLongitudeDeg(manager->get_user_longitude());
602 userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
605 void FGAIBase::_setSubID( int s ) {
609 bool FGAIBase::setParentNode() {
612 SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name
613 << " parent not set ");
617 const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
619 for (int i = ai->nChildren() - 1; i >= -1; i--) {
620 SGPropertyNode_ptr model;
622 if (i < 0) { // last iteration: selected model
623 model = _selected_ac;
625 model = ai->getChild(i);
626 string path = ai->getPath();
627 const string name = model->getStringValue("name");
629 if (!model->nChildren()){
632 if (name == _parent) {
633 _selected_ac = model; // save selected model for last iteration
643 if (_selected_ac != 0){
644 const string name = _selected_ac->getStringValue("name");
647 SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name
648 << " parent not found: dying ");
655 double FGAIBase::_getLongitude() const {
656 return pos.getLongitudeDeg();
659 double FGAIBase::_getLatitude() const {
660 return pos.getLatitudeDeg();
663 double FGAIBase::_getElevationFt() const {
664 return pos.getElevationFt();
667 double FGAIBase::_getRdot() const {
671 double FGAIBase::_getVS_fps() const {
675 double FGAIBase::_get_speed_east_fps() const {
676 return speed_east_deg_sec * ft_per_deg_lon;
679 double FGAIBase::_get_speed_north_fps() const {
680 return speed_north_deg_sec * ft_per_deg_lat;
683 void FGAIBase::_setVS_fps( double _vs ) {
687 double FGAIBase::_getAltitude() const {
691 double FGAIBase::_getAltitudeAGL(SGGeod inpos, double start){
692 getGroundElevationM(SGGeod::fromGeodM(inpos, start),
693 _elevation_m, &_material);
694 return inpos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
697 bool FGAIBase::_getServiceable() const {
701 SGPropertyNode* FGAIBase::_getProps() const {
705 void FGAIBase::_setAltitude( double _alt ) {
709 bool FGAIBase::_isNight() {
710 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
713 bool FGAIBase::_getCollisionData() {
714 return _collision_reported;
717 bool FGAIBase::_getExpiryData() {
718 return _expiry_reported;
721 bool FGAIBase::_getImpactData() {
722 return _impact_reported;
725 double FGAIBase::_getImpactLat() const {
729 double FGAIBase::_getImpactLon() const {
733 double FGAIBase::_getImpactElevFt() const {
734 return _impact_elev * SG_METER_TO_FEET;
737 double FGAIBase::_getImpactPitch() const {
738 return _impact_pitch;
741 double FGAIBase::_getImpactRoll() const {
745 double FGAIBase::_getImpactHdg() const {
749 double FGAIBase::_getImpactSpeed() const {
750 return _impact_speed;
753 int FGAIBase::getID() const {
757 int FGAIBase::_getSubID() const {
761 double FGAIBase::_getSpeed() const {
765 double FGAIBase::_getRoll() const {
769 double FGAIBase::_getPitch() const {
773 double FGAIBase::_getHeading() const {
777 double FGAIBase::_getXOffset() const {
781 double FGAIBase::_getYOffset() const {
785 double FGAIBase::_getZOffset() const {
789 const char* FGAIBase::_getPath() const {
790 return model_path.c_str();
793 const char* FGAIBase::_getSMPath() const {
794 return _path.c_str();
797 const char* FGAIBase::_getName() const {
798 return _name.c_str();
801 const char* FGAIBase::_getCallsign() const {
802 return _callsign.c_str();
805 const char* FGAIBase::_getSubmodel() const {
806 return _submodel.c_str();
809 void FGAIBase::CalculateMach() {
810 // Calculate rho at altitude, using standard atmosphere
811 // For the temperature T and the pressure p,
812 double altitude = altitude_ft;
814 if (altitude < 36152) { // curve fits for the troposphere
815 T = 59 - 0.00356 * altitude;
816 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
817 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
819 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
820 } else { // upper stratosphere
821 T = -205.05 + (0.00164 * altitude);
822 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
825 rho = p / (1718 * (T + 459.7));
827 // calculate the speed of sound at altitude
828 // a = sqrt ( g * R * (T + 459.7))
830 // a = speed of sound [ft/s]
831 // g = specific heat ratio, which is usually equal to 1.4
832 // R = specific gas constant, which equals 1716 ft-lb/slug/R
833 a = sqrt ( 1.4 * 1716 * (T + 459.7));
835 // calculate Mach number
838 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
841 int FGAIBase::_newAIModelID() {
845 id++; // id = 0 is not allowed.