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() ),
74 tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
75 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
76 bearing = elevation = range = rdot = 0.0;
77 x_shift = y_shift = rotation = 0.0;
83 _impact_reported = false;
84 _collision_reported = false;
85 _expiry_reported = false;
97 userpos = SGGeod::fromDeg(0, 0);
99 pos = SGGeod::fromDeg(0, 0);
102 speed_north_deg_sec = 0;
103 speed_east_deg_sec = 0;
124 FGAIBase::~FGAIBase() {
125 // Unregister that one at the scenery manager
126 if (globals->get_scenery()) {
127 globals->get_scenery()->get_scene_graph()->removeChild(aip.getSceneGraph());
131 SGPropertyNode* parent = props->getParent();
134 model_removed->setStringValue(props->getPath());
140 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
145 setPath(scFileNode->getStringValue("model",
146 fgGetString("/sim/multiplay/default-model", default_model)));
148 setHeading(scFileNode->getDoubleValue("heading", 0.0));
149 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
150 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
151 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
152 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
153 setBank(scFileNode->getDoubleValue("roll", 0.0));
155 SGPropertyNode* submodels = scFileNode->getChild("submodels");
158 setServiceable(submodels->getBoolValue("serviceable", false));
159 setSMPath(submodels->getStringValue("path", ""));
164 void FGAIBase::update(double dt) {
166 if (_otype == otStatic)
169 if (_otype == otBallistic)
172 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
173 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
176 void FGAIBase::Transform() {
179 aip.setVisible(true);
180 aip.setPosition(pos);
183 aip.setOrientation(0.0, pitch, hdg);
185 aip.setOrientation(roll, pitch, hdg);
189 aip.setVisible(false);
195 bool FGAIBase::init(bool search_in_AI_path) {
196 osg::ref_ptr<osgDB::ReaderWriter::Options> opt=
197 new osgDB::ReaderWriter::Options(*osgDB::Registry::instance()->getOptions());
199 if(search_in_AI_path)
201 SGPath ai_path(globals->get_fg_root());
202 ai_path.append("AI");
203 opt->getDatabasePathList().push_front(ai_path.str());
206 string f = osgDB::findDataFile(model_path, opt.get());
209 f = fgGetString("/sim/multiplay/default-model", default_model);
211 model = load3DModel(f, props);
213 if (model.valid() && _initialized == false) {
214 aip.init( model.get() );
215 aip.setVisible(true);
217 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
220 } else if (!model_path.empty()) {
221 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
228 void FGAIBase::initModel(osg::Node *node)
233 props->setStringValue("submodels/path", _path.c_str());
234 SG_LOG(SG_INPUT, SG_DEBUG, "AIBase: submodels/path " << _path);
238 props->setStringValue("parent-name", _parent.c_str());
241 fgSetString("/ai/models/model-added", props->getPath().c_str());
242 } else if (!model_path.empty()) {
243 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
250 osg::Node* FGAIBase::load3DModel(const string &path, SGPropertyNode *prop_root)
252 model = SGModelLib::loadPagedModel(path, prop_root, new FGNasalModelData(prop_root));
253 initModel(model.get());
257 bool FGAIBase::isa( object_type otype ) {
258 return otype == _otype;
262 void FGAIBase::bind() {
263 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
265 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
266 props->tie("velocities/vertical-speed-fps",
267 SGRawValueMethods<FGAIBase,double>(*this,
268 &FGAIBase::_getVS_fps,
269 &FGAIBase::_setVS_fps));
271 props->tie("position/altitude-ft",
272 SGRawValueMethods<FGAIBase,double>(*this,
273 &FGAIBase::_getAltitude,
274 &FGAIBase::_setAltitude));
275 props->tie("position/latitude-deg",
276 SGRawValueMethods<FGAIBase,double>(*this,
277 &FGAIBase::_getLatitude,
278 &FGAIBase::_setLatitude));
279 props->tie("position/longitude-deg",
280 SGRawValueMethods<FGAIBase,double>(*this,
281 &FGAIBase::_getLongitude,
282 &FGAIBase::_setLongitude));
284 props->tie("position/global-x",
285 SGRawValueMethods<FGAIBase,double>(*this,
286 &FGAIBase::_getCartPosX,
288 props->tie("position/global-y",
289 SGRawValueMethods<FGAIBase,double>(*this,
290 &FGAIBase::_getCartPosY,
292 props->tie("position/global-z",
293 SGRawValueMethods<FGAIBase,double>(*this,
294 &FGAIBase::_getCartPosZ,
296 props->tie("callsign",
297 SGRawValueMethods<FGAIBase,const char*>(*this,
298 &FGAIBase::_getCallsign,
301 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
302 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
303 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
305 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
306 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
307 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
308 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
309 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
310 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
311 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
312 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
313 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
314 props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
315 props->tie("subID", SGRawValuePointer<int>(&_subID));
316 props->tie("controls/lighting/nav-lights",
317 SGRawValueFunctions<bool>(_isNight));
318 props->setBoolValue("controls/lighting/beacon", true);
319 props->setBoolValue("controls/lighting/strobe", true);
320 props->setBoolValue("controls/glide-path", true);
322 props->setStringValue("controls/flight/lateral-mode", "roll");
323 props->setDoubleValue("controls/flight/target-hdg", hdg);
324 props->setDoubleValue("controls/flight/target-roll", roll);
326 props->setStringValue("controls/flight/longitude-mode", "alt");
327 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
328 props->setDoubleValue("controls/flight/target-pitch", pitch);
330 props->setDoubleValue("controls/flight/target-spd", speed);
334 void FGAIBase::unbind() {
336 props->untie("velocities/true-airspeed-kt");
337 props->untie("velocities/vertical-speed-fps");
339 props->untie("position/altitude-ft");
340 props->untie("position/latitude-deg");
341 props->untie("position/longitude-deg");
342 props->untie("position/global-x");
343 props->untie("position/global-y");
344 props->untie("position/global-z");
345 props->untie("callsign");
347 props->untie("orientation/pitch-deg");
348 props->untie("orientation/roll-deg");
349 props->untie("orientation/true-heading-deg");
351 props->untie("radar/in-range");
352 props->untie("radar/bearing-deg");
353 props->untie("radar/elevation-deg");
354 props->untie("radar/range-nm");
355 props->untie("radar/h-offset");
356 props->untie("radar/v-offset");
357 props->untie("radar/x-shift");
358 props->untie("radar/y-shift");
359 props->untie("radar/rotation");
360 props->untie("radar/ht-diff-ft");
362 props->untie("controls/lighting/nav-lights");
364 props->setBoolValue("/sim/controls/radar/", true);
368 double FGAIBase::UpdateRadar(FGAIManager* manager) {
369 bool control = fgGetBool("/sim/controls/radar", true);
371 if(!control) return 0;
373 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
374 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
375 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
376 radar_range_ft2 *= radar_range_ft2;
378 double user_latitude = manager->get_user_latitude();
379 double user_longitude = manager->get_user_longitude();
380 double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
381 double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
382 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
385 // Test whether the target is within radar range.
387 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
389 if ( in_range || force_on ) {
390 props->setBoolValue("radar/in-range", true);
392 // copy values from the AIManager
393 double user_altitude = manager->get_user_altitude();
394 double user_heading = manager->get_user_heading();
395 double user_pitch = manager->get_user_pitch();
396 //double user_yaw = manager->get_user_yaw();
397 //double user_speed = manager->get_user_speed();
399 // calculate range to target in feet and nautical miles
400 double range_ft = sqrt( range_ft2 );
401 range = range_ft / 6076.11549;
403 // calculate bearing to target
404 if (pos.getLatitudeDeg() >= user_latitude) {
405 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
406 if (pos.getLongitudeDeg() >= user_longitude) {
407 bearing = 90.0 - bearing;
409 bearing = 270.0 + bearing;
412 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
413 if (pos.getLongitudeDeg() >= user_longitude) {
414 bearing = 180.0 - bearing;
416 bearing = 180.0 + bearing;
420 // This is an alternate way to compute bearing and distance which
421 // agrees with the original scheme within about 0.1 degrees.
423 // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
424 // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
425 // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
426 // double gc_bearing, gc_range;
427 // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
428 // gc_range *= SG_METER_TO_NM;
429 // gc_bearing *= SGD_RADIANS_TO_DEGREES;
430 // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
431 // bearing, range, gc_bearing, gc_range);
433 // calculate look left/right to target, without yaw correction
434 horiz_offset = bearing - user_heading;
435 if (horiz_offset > 180.0) horiz_offset -= 360.0;
436 if (horiz_offset < -180.0) horiz_offset += 360.0;
438 // calculate elevation to target
439 elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
441 // calculate look up/down to target
442 vert_offset = elevation - user_pitch;
444 /* this calculation needs to be fixed, but it isn't important anyway
445 // calculate range rate
446 double recip_bearing = bearing + 180.0;
447 if (recip_bearing > 360.0) recip_bearing -= 360.0;
448 double my_horiz_offset = recip_bearing - hdg;
449 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
450 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
451 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
452 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
455 // now correct look left/right for yaw
456 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
458 // calculate values for radar display
459 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
460 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
461 rotation = hdg - user_heading;
462 if (rotation < 0.0) rotation += 360.0;
463 ht_diff = altitude_ft - user_altitude;
471 * Getters and Setters
474 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
475 // Transform that one to the horizontal local coordinate system.
476 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
478 // and postrotate the orientation of the AIModel wrt the horizontal
480 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
482 // The offset converted to the usual body fixed coordinate system
483 // rotated to the earth fixed coordinates axis
484 SGVec3d off = hlTrans.backTransform(_off);
486 // Add the position offset of the AIModel to gain the earth centered position
487 SGVec3d cartPos = SGVec3d::fromGeod(pos);
489 return cartPos + off;
492 SGVec3d FGAIBase::getCartPos() const {
493 SGVec3d cartPos = SGVec3d::fromGeod(pos);
497 bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
498 const SGMaterial** material) const {
499 return globals->get_scenery()->get_elevation_m(pos, elev, material,
503 double FGAIBase::_getCartPosX() const {
504 SGVec3d cartPos = getCartPos();
508 double FGAIBase::_getCartPosY() const {
509 SGVec3d cartPos = getCartPos();
513 double FGAIBase::_getCartPosZ() const {
514 SGVec3d cartPos = getCartPos();
518 void FGAIBase::_setLongitude( double longitude ) {
519 pos.setLongitudeDeg(longitude);
522 void FGAIBase::_setLatitude ( double latitude ) {
523 pos.setLatitudeDeg(latitude);
526 void FGAIBase::_setUserPos(){
527 userpos.setLatitudeDeg(manager->get_user_latitude());
528 userpos.setLongitudeDeg(manager->get_user_longitude());
529 userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
532 void FGAIBase::_setSubID( int s ) {
536 void FGAIBase::setParentNode() {
537 // cout << "AIBase: setParentNode " << _parent << endl;
539 const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
541 for (int i = ai->nChildren() - 1; i >= -1; i--) {
542 SGPropertyNode_ptr model;
544 if (i < 0) { // last iteration: selected model
545 model = _selected_ac;
547 model = ai->getChild(i);
548 string path = ai->getPath();
549 const string name = model->getStringValue("name");
551 if (!model->nChildren()){
554 if (name == _parent) {
555 _selected_ac = model; // save selected model for last iteration
565 if (_selected_ac != 0){
566 const string name = _selected_ac->getStringValue("name");
570 SG_LOG(SG_GENERAL, SG_ALERT, "AIEscort: " << _name
571 << " parent not found: dying ");
576 double FGAIBase::_getLongitude() const {
577 return pos.getLongitudeDeg();
580 double FGAIBase::_getLatitude() const {
581 return pos.getLatitudeDeg();
584 double FGAIBase::_getElevationFt() const {
585 return pos.getElevationFt();
588 double FGAIBase::_getRdot() const {
592 double FGAIBase::_getVS_fps() const {
596 double FGAIBase::_get_speed_east_fps() const {
597 return speed_east_deg_sec * ft_per_deg_lon;
600 double FGAIBase::_get_speed_north_fps() const {
601 return speed_north_deg_sec * ft_per_deg_lat;
604 void FGAIBase::_setVS_fps( double _vs ) {
608 double FGAIBase::_getAltitude() const {
612 bool FGAIBase::_getServiceable() const {
616 SGPropertyNode* FGAIBase::_getProps() const {
620 void FGAIBase::_setAltitude( double _alt ) {
624 bool FGAIBase::_isNight() {
625 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
628 bool FGAIBase::_getCollisionData() {
629 return _collision_reported;
632 bool FGAIBase::_getExpiryData() {
633 return _expiry_reported;
636 bool FGAIBase::_getImpactData() {
637 return _impact_reported;
640 double FGAIBase::_getImpactLat() const {
644 double FGAIBase::_getImpactLon() const {
648 double FGAIBase::_getImpactElevFt() const {
649 return _impact_elev * SG_METER_TO_FEET;
652 double FGAIBase::_getImpactPitch() const {
653 return _impact_pitch;
656 double FGAIBase::_getImpactRoll() const {
660 double FGAIBase::_getImpactHdg() const {
664 double FGAIBase::_getImpactSpeed() const {
665 return _impact_speed;
668 int FGAIBase::getID() const {
672 int FGAIBase::_getSubID() const {
676 double FGAIBase::_getSpeed() const {
680 double FGAIBase::_getRoll() const {
684 double FGAIBase::_getPitch() const {
688 double FGAIBase::_getHeading() const {
692 double FGAIBase::_getXOffset() const {
696 double FGAIBase::_getYOffset() const {
700 double FGAIBase::_getZOffset() const {
704 const char* FGAIBase::_getPath() const {
705 return model_path.c_str();
708 const char* FGAIBase::_getSMPath() const {
709 return _path.c_str();
712 const char* FGAIBase::_getName() const {
713 return _name.c_str();
716 const char* FGAIBase::_getCallsign() const {
717 return _callsign.c_str();
720 const char* FGAIBase::_getSubmodel() const {
721 return _submodel.c_str();
724 void FGAIBase::CalculateMach() {
725 // Calculate rho at altitude, using standard atmosphere
726 // For the temperature T and the pressure p,
727 double altitude = altitude_ft;
729 if (altitude < 36152) { // curve fits for the troposphere
730 T = 59 - 0.00356 * altitude;
731 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
732 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
734 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
735 } else { // upper stratosphere
736 T = -205.05 + (0.00164 * altitude);
737 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
740 rho = p / (1718 * (T + 459.7));
742 // calculate the speed of sound at altitude
743 // a = sqrt ( g * R * (T + 459.7))
745 // a = speed of sound [ft/s]
746 // g = specific heat ratio, which is usually equal to 1.4
747 // R = specific gas constant, which equals 1716 ft-lb/slug/R
748 a = sqrt ( 1.4 * 1716 * (T + 459.7));
750 // calculate Mach number
753 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
756 int FGAIBase::_newAIModelID() {
760 id++; // id = 0 is not allowed.