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 // This program is free software; you can redistribute it and/or
7 // modify it under the terms of the GNU General Public License as
8 // published by the Free Software Foundation; either version 2 of the
9 // License, or (at your option) any later version.
11 // This program is distributed in the hope that it will be useful, but
12 // WITHOUT ANY WARRANTY; without even the implied warranty of
13 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Public License for more details.
16 // You should have received a copy of the GNU General Public License
17 // along with this program; if not, write to the Free Software
18 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
25 #include <simgear/compiler.h>
32 #include <simgear/math/point3d.hxx>
33 #include <simgear/misc/sg_path.hxx>
34 #include <simgear/scene/model/location.hxx>
35 #include <simgear/scene/model/model.hxx>
36 #include <simgear/debug/logstream.hxx>
37 #include <simgear/props/props.hxx>
39 #include <Main/globals.hxx>
40 #include <Scenery/scenery.hxx>
44 #include "AIManager.hxx"
46 FGAIBase::FGAIBase() {
48 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
49 bearing = elevation = range = rdot = 0.0;
50 x_shift = y_shift = rotation = 0.0;
59 fp = (FGAIFlightPlan*)0;
62 FGAIBase::~FGAIBase() {
63 globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
65 SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
66 root->removeChild(_type_str.c_str(), index);
70 void FGAIBase::update(double dt) {
71 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES);
72 ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES);
76 void FGAIBase::Transform() {
78 aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
80 aip.setOrientation(0.0, pitch, hdg);
82 aip.setOrientation(roll, pitch, hdg);
84 aip.update( globals->get_scenery()->get_center() );
89 bool FGAIBase::init() {
91 SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
92 index = manager->getNum(_otype) - 1;
93 props = root->getNode(_type_str.c_str(), index, true);
94 if (model_path != "") {
95 model = sgLoad3DModel( globals->get_fg_root(),
98 globals->get_sim_time_sec() );
102 aip.setVisible(true);
104 globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
106 if (model_path != "") {
107 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model.");
116 bool FGAIBase::isa( object_type otype ) {
117 if ( otype == _otype ) { return true; }
118 else { return false; }
122 void FGAIBase::bind() {
123 props->tie("id", SGRawValuePointer<int>(&id));
124 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
125 props->tie("velocities/vertical-speed-fps",
126 SGRawValueMethods<FGAIBase,double>(*this,
127 &FGAIBase::_getVS_fps,
128 &FGAIBase::_setVS_fps));
130 props->tie("position/altitude-ft",
131 SGRawValueMethods<FGAIBase,double>(*this,
132 &FGAIBase::_getAltitude,
133 &FGAIBase::_setAltitude));
134 props->tie("position/latitude-deg",
135 SGRawValueMethods<FGAIBase,double>(*this,
136 &FGAIBase::_getLatitude,
137 &FGAIBase::_setLatitude));
138 props->tie("position/longitude-deg",
139 SGRawValueMethods<FGAIBase,double>(*this,
140 &FGAIBase::_getLongitude,
141 &FGAIBase::_setLongitude));
143 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
144 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
145 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
147 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
148 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
149 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
150 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
151 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
152 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
153 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
154 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
155 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
157 props->tie("controls/lighting/nav-lights",
158 SGRawValueFunctions<bool>(_isNight));
159 props->setBoolValue("controls/lighting/beacon", true);
160 props->setBoolValue("controls/lighting/strobe", true);
163 void FGAIBase::unbind() {
165 props->untie("velocities/true-airspeed-kt");
166 props->untie("velocities/vertical-speed-fps");
168 props->untie("position/altitude-ft");
169 props->untie("position/latitude-deg");
170 props->untie("position/longitude-deg");
172 props->untie("orientation/pitch-deg");
173 props->untie("orientation/roll-deg");
174 props->untie("orientation/true-heading-deg");
176 props->untie("radar/in-range");
177 props->untie("radar/bearing-deg");
178 props->untie("radar/elevation-deg");
179 props->untie("radar/range-nm");
180 props->untie("radar/h-offset");
181 props->untie("radar/v-offset");
182 props->untie("radar/x-shift");
183 props->untie("radar/y-shift");
184 props->untie("radar/rotation");
186 props->untie("controls/lighting/nav-lights");
189 double FGAIBase::UpdateRadar(FGAIManager* manager)
191 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
192 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
193 radar_range_ft2 *= radar_range_ft2;
195 double user_latitude = manager->get_user_latitude();
196 double user_longitude = manager->get_user_longitude();
197 double lat_range = fabs(pos.lat() - user_latitude) * ft_per_deg_lat;
198 double lon_range = fabs(pos.lon() - user_longitude) * ft_per_deg_lon;
199 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
202 // Test whether the target is within radar range.
204 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
207 props->setBoolValue("radar/in-range", true);
209 // copy values from the AIManager
210 double user_altitude = manager->get_user_altitude();
211 double user_heading = manager->get_user_heading();
212 double user_pitch = manager->get_user_pitch();
213 double user_yaw = manager->get_user_yaw();
214 double user_speed = manager->get_user_speed();
216 // calculate range to target in feet and nautical miles
217 double range_ft = sqrt( range_ft2 );
218 range = range_ft / 6076.11549;
220 // calculate bearing to target
221 if (pos.lat() >= user_latitude) {
222 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
223 if (pos.lon() >= user_longitude) {
224 bearing = 90.0 - bearing;
226 bearing = 270.0 + bearing;
229 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
230 if (pos.lon() >= user_longitude) {
231 bearing = 180.0 - bearing;
233 bearing = 180.0 + bearing;
237 // calculate look left/right to target, without yaw correction
238 horiz_offset = bearing - user_heading;
239 if (horiz_offset > 180.0) horiz_offset -= 360.0;
240 if (horiz_offset < -180.0) horiz_offset += 360.0;
242 // calculate elevation to target
243 elevation = atan2( altitude * SG_METER_TO_FEET - user_altitude, range_ft )
244 * SG_RADIANS_TO_DEGREES;
246 // calculate look up/down to target
247 vert_offset = elevation + user_pitch;
249 /* this calculation needs to be fixed, but it isn't important anyway
250 // calculate range rate
251 double recip_bearing = bearing + 180.0;
252 if (recip_bearing > 360.0) recip_bearing -= 360.0;
253 double my_horiz_offset = recip_bearing - hdg;
254 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
255 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
256 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
257 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
260 // now correct look left/right for yaw
261 horiz_offset += user_yaw;
263 // calculate values for radar display
264 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
265 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
266 rotation = hdg - user_heading;
267 if (rotation < 0.0) rotation += 360.0;
276 * getters and Setters
278 void FGAIBase::_setLongitude( double longitude ) {
279 pos.setlon(longitude);
281 void FGAIBase::_setLatitude ( double latitude ) {
282 pos.setlat(latitude);
285 double FGAIBase::_getLongitude() const {
288 double FGAIBase::_getLatitude () const {
291 double FGAIBase::_getRdot() const {
294 double FGAIBase::_getVS_fps() const {
297 void FGAIBase::_setVS_fps( double _vs ) {
301 double FGAIBase::_getAltitude() const {
304 void FGAIBase::_setAltitude( double _alt ) {
308 bool FGAIBase::_isNight() {
309 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);