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/math/sg_geodesy.hxx>
34 #include <simgear/misc/sg_path.hxx>
35 #include <simgear/scene/model/location.hxx>
36 #include <simgear/scene/model/model.hxx>
37 #include <simgear/debug/logstream.hxx>
38 #include <simgear/props/props.hxx>
40 #include <Main/globals.hxx>
41 #include <Scenery/scenery.hxx>
45 #include "AIManager.hxx"
48 const double FGAIBase::e = 2.71828183;
49 const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
59 tgt_heading = tgt_altitude = tgt_speed = 0.0;
60 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
61 bearing = elevation = range = rdot = 0.0;
62 x_shift = y_shift = rotation = 0.0;
73 FGAIBase::~FGAIBase() {
74 // Unregister that one at the scenery manager
75 if (globals->get_scenery()) {
76 globals->get_scenery()->unregister_placement_transform(aip.getTransform());
77 globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
80 SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
81 root->removeChild(_type_str.c_str(), index);
86 void FGAIBase::update(double dt) {
87 if (_otype == otStatic) return;
88 if (_otype == otBallistic) CalculateMach();
90 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()*SGD_DEGREES_TO_RADIANS);
91 ft_per_deg_lon = 365228.16 * cos(pos.lat()*SGD_DEGREES_TO_RADIANS);
94 void FGAIBase::Transform() {
96 aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
98 aip.setOrientation(0.0, pitch, hdg);
100 aip.setOrientation(roll, pitch, hdg);
107 bool FGAIBase::init() {
109 SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
111 index = manager->getNum(_otype) - 1;
112 props = root->getNode(_type_str.c_str(), index, true);
114 if (model_path != "") {
116 model = load3DModel( globals->get_fg_root(),
117 SGPath(model_path).c_str(),
119 globals->get_sim_time_sec() );
120 } catch (const sg_exception &e) {
126 aip.setVisible(true);
128 globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
129 // Register that one at the scenery manager
130 globals->get_scenery()->register_placement_transform(aip.getTransform());
132 if (model_path != "") {
133 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
143 ssgBranch * FGAIBase::load3DModel(const string& fg_root,
145 SGPropertyNode *prop_root,
148 // some more code here to check whether a model with this name has already been loaded
149 // if not load it, otherwise, get the memory pointer and do something like
150 // SetModel as in ATC/AIEntity.cxx
152 model = manager->getModel(path);
155 model = sgLoad3DModel(fg_root,
159 manager->setModel(path, model);
166 // aip.setVisible(false);
167 // globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
168 // do some setModel stuff.
172 bool FGAIBase::isa( object_type otype ) {
173 if ( otype == _otype ) { return true; }
174 else { return false; }
178 void FGAIBase::bind() {
179 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
181 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
182 props->tie("velocities/vertical-speed-fps",
183 SGRawValueMethods<FGAIBase,double>(*this,
184 &FGAIBase::_getVS_fps,
185 &FGAIBase::_setVS_fps));
187 props->tie("position/altitude-ft",
188 SGRawValueMethods<FGAIBase,double>(*this,
189 &FGAIBase::_getAltitude,
190 &FGAIBase::_setAltitude));
191 props->tie("position/latitude-deg",
192 SGRawValueMethods<FGAIBase,double>(*this,
193 &FGAIBase::_getLatitude,
194 &FGAIBase::_setLatitude));
195 props->tie("position/longitude-deg",
196 SGRawValueMethods<FGAIBase,double>(*this,
197 &FGAIBase::_getLongitude,
198 &FGAIBase::_setLongitude));
200 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
201 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
202 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
204 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
205 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
206 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
207 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
208 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
209 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
210 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
211 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
212 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
214 props->tie("controls/lighting/nav-lights",
215 SGRawValueFunctions<bool>(_isNight));
216 props->setBoolValue("controls/lighting/beacon", true);
217 props->setBoolValue("controls/lighting/strobe", true);
218 props->setBoolValue("controls/glide-path", true);
221 void FGAIBase::unbind() {
223 props->untie("velocities/true-airspeed-kt");
224 props->untie("velocities/vertical-speed-fps");
226 props->untie("position/altitude-ft");
227 props->untie("position/latitude-deg");
228 props->untie("position/longitude-deg");
230 props->untie("orientation/pitch-deg");
231 props->untie("orientation/roll-deg");
232 props->untie("orientation/true-heading-deg");
234 props->untie("radar/in-range");
235 props->untie("radar/bearing-deg");
236 props->untie("radar/elevation-deg");
237 props->untie("radar/range-nm");
238 props->untie("radar/h-offset");
239 props->untie("radar/v-offset");
240 props->untie("radar/x-shift");
241 props->untie("radar/y-shift");
242 props->untie("radar/rotation");
244 props->untie("controls/lighting/nav-lights");
247 double FGAIBase::UpdateRadar(FGAIManager* manager)
249 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
250 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
251 radar_range_ft2 *= radar_range_ft2;
253 double user_latitude = manager->get_user_latitude();
254 double user_longitude = manager->get_user_longitude();
255 double lat_range = fabs(pos.lat() - user_latitude) * ft_per_deg_lat;
256 double lon_range = fabs(pos.lon() - user_longitude) * ft_per_deg_lon;
257 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
260 // Test whether the target is within radar range.
262 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
265 props->setBoolValue("radar/in-range", true);
267 // copy values from the AIManager
268 double user_altitude = manager->get_user_altitude();
269 double user_heading = manager->get_user_heading();
270 double user_pitch = manager->get_user_pitch();
271 double user_yaw = manager->get_user_yaw();
272 double user_speed = manager->get_user_speed();
274 // calculate range to target in feet and nautical miles
275 double range_ft = sqrt( range_ft2 );
276 range = range_ft / 6076.11549;
278 // calculate bearing to target
279 if (pos.lat() >= user_latitude) {
280 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
281 if (pos.lon() >= user_longitude) {
282 bearing = 90.0 - bearing;
284 bearing = 270.0 + bearing;
287 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
288 if (pos.lon() >= user_longitude) {
289 bearing = 180.0 - bearing;
291 bearing = 180.0 + bearing;
295 // calculate look left/right to target, without yaw correction
296 horiz_offset = bearing - user_heading;
297 if (horiz_offset > 180.0) horiz_offset -= 360.0;
298 if (horiz_offset < -180.0) horiz_offset += 360.0;
300 // calculate elevation to target
301 elevation = atan2( altitude * SG_METER_TO_FEET - user_altitude, range_ft )
302 * SG_RADIANS_TO_DEGREES;
304 // calculate look up/down to target
305 vert_offset = elevation + user_pitch;
307 /* this calculation needs to be fixed, but it isn't important anyway
308 // calculate range rate
309 double recip_bearing = bearing + 180.0;
310 if (recip_bearing > 360.0) recip_bearing -= 360.0;
311 double my_horiz_offset = recip_bearing - hdg;
312 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
313 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
314 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
315 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
318 // now correct look left/right for yaw
319 horiz_offset += user_yaw;
321 // calculate values for radar display
322 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
323 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
324 rotation = hdg - user_heading;
325 if (rotation < 0.0) rotation += 360.0;
333 FGAIBase::getCartPosAt(const Point3D& off) const
335 // The offset converted to the usual body fixed coordinate system.
337 sgdSetVec3(sgdOff, -off.x(), off.z(), -off.y());
339 // Transform that one to the horizontal local coordinate system.
341 sgdMakeRotMat4(hlTrans, hdg, pitch, roll);
342 sgdXformPnt3(sgdOff, hlTrans);
344 // Now transform to the wgs84 earth centeres system.
345 Point3D pos2(pos.lon()* SGD_DEGREES_TO_RADIANS,
346 pos.lat() * SGD_DEGREES_TO_RADIANS,
348 Point3D cartPos3D = sgGeodToCart(pos2);
350 sgdMakeCoordMat4(ecTrans, cartPos3D.x(), cartPos3D.y(), cartPos3D.z(),
351 pos.lon(), 0, - 90 - pos.lat());
352 sgdXformPnt3(sgdOff, ecTrans);
354 return Point3D(sgdOff[0], sgdOff[1], sgdOff[2]);
358 FGAIBase::getGeocPosAt(const Point3D& off) const
360 return sgCartToGeod(getCartPosAt(off));
364 * getters and Setters
366 void FGAIBase::_setLongitude( double longitude ) {
367 pos.setlon(longitude);
369 void FGAIBase::_setLatitude ( double latitude ) {
370 pos.setlat(latitude);
373 double FGAIBase::_getLongitude() const {
376 double FGAIBase::_getLatitude () const {
379 double FGAIBase::_getRdot() const {
382 double FGAIBase::_getVS_fps() const {
385 void FGAIBase::_setVS_fps( double _vs ) {
389 double FGAIBase::_getAltitude() const {
392 void FGAIBase::_setAltitude( double _alt ) {
396 bool FGAIBase::_isNight() {
397 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
400 int FGAIBase::_getID() const {
404 void FGAIBase::CalculateMach() {
405 // Calculate rho at altitude, using standard atmosphere
406 // For the temperature T and the pressure p,
408 if (altitude < 36152) { // curve fits for the troposphere
409 T = 59 - 0.00356 * altitude;
410 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
412 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
414 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
416 } else { // upper stratosphere
417 T = -205.05 + (0.00164 * altitude);
418 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
421 rho = p / (1718 * (T + 459.7));
423 // calculate the speed of sound at altitude
424 // a = sqrt ( g * R * (T + 459.7))
426 // a = speed of sound [ft/s]
427 // g = specific heat ratio, which is usually equal to 1.4
428 // R = specific gas constant, which equals 1716 ft-lb/slug/°R
430 a = sqrt ( 1.4 * 1716 * (T + 459.7));
432 // calculate Mach number
436 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach;