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
132 if (globals->get_scenery()) {
133 globals->get_scenery()->get_scene_graph()->removeChild(aip.getSceneGraph());
137 SGPropertyNode* parent = props->getParent();
140 model_removed->setStringValue(props->getPath());
146 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
151 setPath(scFileNode->getStringValue("model",
152 fgGetString("/sim/multiplay/default-model", default_model)));
154 setHeading(scFileNode->getDoubleValue("heading", 0.0));
155 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
156 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
157 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
158 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
159 setBank(scFileNode->getDoubleValue("roll", 0.0));
161 SGPropertyNode* submodels = scFileNode->getChild("submodels");
164 setServiceable(submodels->getBoolValue("serviceable", false));
165 setSMPath(submodels->getStringValue("path", ""));
170 void FGAIBase::update(double dt) {
172 if (_otype == otStatic)
175 if (_otype == otBallistic)
178 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
179 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
182 void FGAIBase::Transform() {
185 aip.setVisible(true);
186 aip.setPosition(pos);
189 aip.setOrientation(0.0, pitch, hdg);
191 aip.setOrientation(roll, pitch, hdg);
195 aip.setVisible(false);
201 bool FGAIBase::init(bool search_in_AI_path) {
204 if(search_in_AI_path)
206 // setup a modified Options structure, with only the $fg-root/AI defined;
207 // we'll check that first, then give the normal search logic a chance.
208 // this ensures that models in AI/ are preferred to normal models, where
210 osg::ref_ptr<osgDB::ReaderWriter::Options>
211 opt(osg::clone(osgDB::Registry::instance()->getOptions(), osg::CopyOp::SHALLOW_COPY));
213 SGPath ai_path(globals->get_fg_root(), "AI");
214 opt->setDatabasePath(ai_path.str());
216 f = osgDB::findDataFile(model_path, opt.get());
220 f = simgear::SGModelLib::findDataFile(model_path);
224 f = fgGetString("/sim/multiplay/default-model", default_model);
228 model = load3DModel(f, props);
230 if (model.valid() && _initialized == false) {
231 aip.init( model.get() );
232 aip.setVisible(true);
234 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
237 } else if (!model_path.empty()) {
238 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
239 // not properly installed...
247 void FGAIBase::initModel(osg::Node *node)
252 props->setStringValue("submodels/path", _path.c_str());
253 SG_LOG(SG_INPUT, SG_DEBUG, "AIBase: submodels/path " << _path);
257 props->setStringValue("parent-name", _parent.c_str());
260 fgSetString("/ai/models/model-added", props->getPath().c_str());
261 } else if (!model_path.empty()) {
262 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
269 osg::Node* FGAIBase::load3DModel(const string &path, SGPropertyNode *prop_root)
271 model = SGModelLib::loadPagedModel(path, prop_root, new FGNasalModelData(prop_root));
272 initModel(model.get());
276 bool FGAIBase::isa( object_type otype ) {
277 return otype == _otype;
281 void FGAIBase::bind() {
282 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
284 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
285 props->tie("velocities/vertical-speed-fps",
286 SGRawValueMethods<FGAIBase,double>(*this,
287 &FGAIBase::_getVS_fps,
288 &FGAIBase::_setVS_fps));
290 props->tie("position/altitude-ft",
291 SGRawValueMethods<FGAIBase,double>(*this,
292 &FGAIBase::_getAltitude,
293 &FGAIBase::_setAltitude));
294 props->tie("position/latitude-deg",
295 SGRawValueMethods<FGAIBase,double>(*this,
296 &FGAIBase::_getLatitude,
297 &FGAIBase::_setLatitude));
298 props->tie("position/longitude-deg",
299 SGRawValueMethods<FGAIBase,double>(*this,
300 &FGAIBase::_getLongitude,
301 &FGAIBase::_setLongitude));
303 props->tie("position/global-x",
304 SGRawValueMethods<FGAIBase,double>(*this,
305 &FGAIBase::_getCartPosX,
307 props->tie("position/global-y",
308 SGRawValueMethods<FGAIBase,double>(*this,
309 &FGAIBase::_getCartPosY,
311 props->tie("position/global-z",
312 SGRawValueMethods<FGAIBase,double>(*this,
313 &FGAIBase::_getCartPosZ,
315 props->tie("callsign",
316 SGRawValueMethods<FGAIBase,const char*>(*this,
317 &FGAIBase::_getCallsign,
320 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
321 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
322 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
324 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
325 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
326 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
327 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
328 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
329 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
330 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
331 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
332 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
333 props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
334 props->tie("subID", SGRawValuePointer<int>(&_subID));
335 props->tie("controls/lighting/nav-lights",
336 SGRawValueFunctions<bool>(_isNight));
337 props->setBoolValue("controls/lighting/beacon", true);
338 props->setBoolValue("controls/lighting/strobe", true);
339 props->setBoolValue("controls/glide-path", true);
341 props->setStringValue("controls/flight/lateral-mode", "roll");
342 props->setDoubleValue("controls/flight/target-hdg", hdg);
343 props->setDoubleValue("controls/flight/target-roll", roll);
345 props->setStringValue("controls/flight/longitude-mode", "alt");
346 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
347 props->setDoubleValue("controls/flight/target-pitch", pitch);
349 props->setDoubleValue("controls/flight/target-spd", speed);
353 void FGAIBase::unbind() {
355 props->untie("velocities/true-airspeed-kt");
356 props->untie("velocities/vertical-speed-fps");
358 props->untie("position/altitude-ft");
359 props->untie("position/latitude-deg");
360 props->untie("position/longitude-deg");
361 props->untie("position/global-x");
362 props->untie("position/global-y");
363 props->untie("position/global-z");
364 props->untie("callsign");
366 props->untie("orientation/pitch-deg");
367 props->untie("orientation/roll-deg");
368 props->untie("orientation/true-heading-deg");
370 props->untie("radar/in-range");
371 props->untie("radar/bearing-deg");
372 props->untie("radar/elevation-deg");
373 props->untie("radar/range-nm");
374 props->untie("radar/h-offset");
375 props->untie("radar/v-offset");
376 props->untie("radar/x-shift");
377 props->untie("radar/y-shift");
378 props->untie("radar/rotation");
379 props->untie("radar/ht-diff-ft");
381 props->untie("controls/lighting/nav-lights");
383 props->setBoolValue("/sim/controls/radar/", true);
387 double FGAIBase::UpdateRadar(FGAIManager* manager) {
388 bool control = fgGetBool("/sim/controls/radar", true);
390 if(!control) return 0;
392 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
393 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
394 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
395 radar_range_ft2 *= radar_range_ft2;
397 double user_latitude = manager->get_user_latitude();
398 double user_longitude = manager->get_user_longitude();
399 double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
400 double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
401 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
404 // Test whether the target is within radar range.
406 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
408 if ( in_range || force_on ) {
409 props->setBoolValue("radar/in-range", true);
411 // copy values from the AIManager
412 double user_altitude = manager->get_user_altitude();
413 double user_heading = manager->get_user_heading();
414 double user_pitch = manager->get_user_pitch();
415 //double user_yaw = manager->get_user_yaw();
416 //double user_speed = manager->get_user_speed();
418 // calculate range to target in feet and nautical miles
419 double range_ft = sqrt( range_ft2 );
420 range = range_ft / 6076.11549;
422 // calculate bearing to target
423 if (pos.getLatitudeDeg() >= user_latitude) {
424 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
425 if (pos.getLongitudeDeg() >= user_longitude) {
426 bearing = 90.0 - bearing;
428 bearing = 270.0 + bearing;
431 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
432 if (pos.getLongitudeDeg() >= user_longitude) {
433 bearing = 180.0 - bearing;
435 bearing = 180.0 + bearing;
439 // This is an alternate way to compute bearing and distance which
440 // agrees with the original scheme within about 0.1 degrees.
442 // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
443 // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
444 // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
445 // double gc_bearing, gc_range;
446 // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
447 // gc_range *= SG_METER_TO_NM;
448 // gc_bearing *= SGD_RADIANS_TO_DEGREES;
449 // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
450 // bearing, range, gc_bearing, gc_range);
452 // calculate look left/right to target, without yaw correction
453 horiz_offset = bearing - user_heading;
454 if (horiz_offset > 180.0) horiz_offset -= 360.0;
455 if (horiz_offset < -180.0) horiz_offset += 360.0;
457 // calculate elevation to target
458 elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
460 // calculate look up/down to target
461 vert_offset = elevation - user_pitch;
463 /* this calculation needs to be fixed, but it isn't important anyway
464 // calculate range rate
465 double recip_bearing = bearing + 180.0;
466 if (recip_bearing > 360.0) recip_bearing -= 360.0;
467 double my_horiz_offset = recip_bearing - hdg;
468 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
469 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
470 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
471 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
474 // now correct look left/right for yaw
475 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
477 // calculate values for radar display
478 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
479 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
480 rotation = hdg - user_heading;
481 if (rotation < 0.0) rotation += 360.0;
482 ht_diff = altitude_ft - user_altitude;
490 * Getters and Setters
493 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
494 // Transform that one to the horizontal local coordinate system.
495 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
497 // and postrotate the orientation of the AIModel wrt the horizontal
499 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
501 // The offset converted to the usual body fixed coordinate system
502 // rotated to the earth fixed coordinates axis
503 SGVec3d off = hlTrans.backTransform(_off);
505 // Add the position offset of the AIModel to gain the earth centered position
506 SGVec3d cartPos = SGVec3d::fromGeod(pos);
508 return cartPos + off;
511 SGVec3d FGAIBase::getCartPos() const {
512 SGVec3d cartPos = SGVec3d::fromGeod(pos);
516 bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
517 const SGMaterial** material) const {
518 return globals->get_scenery()->get_elevation_m(pos, elev, material,
522 double FGAIBase::_getCartPosX() const {
523 SGVec3d cartPos = getCartPos();
527 double FGAIBase::_getCartPosY() const {
528 SGVec3d cartPos = getCartPos();
532 double FGAIBase::_getCartPosZ() const {
533 SGVec3d cartPos = getCartPos();
537 void FGAIBase::_setLongitude( double longitude ) {
538 pos.setLongitudeDeg(longitude);
541 void FGAIBase::_setLatitude ( double latitude ) {
542 pos.setLatitudeDeg(latitude);
545 void FGAIBase::_setUserPos(){
546 userpos.setLatitudeDeg(manager->get_user_latitude());
547 userpos.setLongitudeDeg(manager->get_user_longitude());
548 userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
551 void FGAIBase::_setSubID( int s ) {
555 bool FGAIBase::setParentNode() {
558 SG_LOG(SG_GENERAL, SG_ALERT, "AIBase: " << _name
559 << " parent not set ");
563 const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
565 for (int i = ai->nChildren() - 1; i >= -1; i--) {
566 SGPropertyNode_ptr model;
568 if (i < 0) { // last iteration: selected model
569 model = _selected_ac;
571 model = ai->getChild(i);
572 string path = ai->getPath();
573 const string name = model->getStringValue("name");
575 if (!model->nChildren()){
578 if (name == _parent) {
579 _selected_ac = model; // save selected model for last iteration
589 if (_selected_ac != 0){
590 const string name = _selected_ac->getStringValue("name");
593 SG_LOG(SG_GENERAL, SG_ALERT, "AIBase: " << _name
594 << " parent not found: dying ");
601 double FGAIBase::_getLongitude() const {
602 return pos.getLongitudeDeg();
605 double FGAIBase::_getLatitude() const {
606 return pos.getLatitudeDeg();
609 double FGAIBase::_getElevationFt() const {
610 return pos.getElevationFt();
613 double FGAIBase::_getRdot() const {
617 double FGAIBase::_getVS_fps() const {
621 double FGAIBase::_get_speed_east_fps() const {
622 return speed_east_deg_sec * ft_per_deg_lon;
625 double FGAIBase::_get_speed_north_fps() const {
626 return speed_north_deg_sec * ft_per_deg_lat;
629 void FGAIBase::_setVS_fps( double _vs ) {
633 double FGAIBase::_getAltitude() const {
637 double FGAIBase::_getAltitudeAGL(SGGeod inpos, double start){
638 getGroundElevationM(SGGeod::fromGeodM(inpos, start),
639 _elevation_m, &_material);
640 return inpos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
643 bool FGAIBase::_getServiceable() const {
647 SGPropertyNode* FGAIBase::_getProps() const {
651 void FGAIBase::_setAltitude( double _alt ) {
655 bool FGAIBase::_isNight() {
656 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
659 bool FGAIBase::_getCollisionData() {
660 return _collision_reported;
663 bool FGAIBase::_getExpiryData() {
664 return _expiry_reported;
667 bool FGAIBase::_getImpactData() {
668 return _impact_reported;
671 double FGAIBase::_getImpactLat() const {
675 double FGAIBase::_getImpactLon() const {
679 double FGAIBase::_getImpactElevFt() const {
680 return _impact_elev * SG_METER_TO_FEET;
683 double FGAIBase::_getImpactPitch() const {
684 return _impact_pitch;
687 double FGAIBase::_getImpactRoll() const {
691 double FGAIBase::_getImpactHdg() const {
695 double FGAIBase::_getImpactSpeed() const {
696 return _impact_speed;
699 int FGAIBase::getID() const {
703 int FGAIBase::_getSubID() const {
707 double FGAIBase::_getSpeed() const {
711 double FGAIBase::_getRoll() const {
715 double FGAIBase::_getPitch() const {
719 double FGAIBase::_getHeading() const {
723 double FGAIBase::_getXOffset() const {
727 double FGAIBase::_getYOffset() const {
731 double FGAIBase::_getZOffset() const {
735 const char* FGAIBase::_getPath() const {
736 return model_path.c_str();
739 const char* FGAIBase::_getSMPath() const {
740 return _path.c_str();
743 const char* FGAIBase::_getName() const {
744 return _name.c_str();
747 const char* FGAIBase::_getCallsign() const {
748 return _callsign.c_str();
751 const char* FGAIBase::_getSubmodel() const {
752 return _submodel.c_str();
755 void FGAIBase::CalculateMach() {
756 // Calculate rho at altitude, using standard atmosphere
757 // For the temperature T and the pressure p,
758 double altitude = altitude_ft;
760 if (altitude < 36152) { // curve fits for the troposphere
761 T = 59 - 0.00356 * altitude;
762 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
763 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
765 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
766 } else { // upper stratosphere
767 T = -205.05 + (0.00164 * altitude);
768 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
771 rho = p / (1718 * (T + 459.7));
773 // calculate the speed of sound at altitude
774 // a = sqrt ( g * R * (T + 459.7))
776 // a = speed of sound [ft/s]
777 // g = specific heat ratio, which is usually equal to 1.4
778 // R = specific gas constant, which equals 1716 ft-lb/slug/R
779 a = sqrt ( 1.4 * 1716 * (T + 459.7));
781 // calculate Mach number
784 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
787 int FGAIBase::_newAIModelID() {
791 id++; // id = 0 is not allowed.