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 FGAIBase::~FGAIBase() {
60 globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
62 SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
63 root->removeChild(_type_str.c_str(), index);
66 void FGAIBase::update(double dt) {
70 void FGAIBase::Transform() {
72 aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
74 aip.setOrientation(0.0, pitch, hdg);
76 aip.setOrientation(roll, pitch, hdg);
78 aip.update( globals->get_scenery()->get_center() );
83 bool FGAIBase::init() {
85 SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
86 index = manager->getNum(_otype) - 1;
87 props = root->getNode(_type_str.c_str(), index, true);
88 if (model_path != "") {
89 model = sgLoad3DModel( globals->get_fg_root(),
92 globals->get_sim_time_sec() );
98 globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
100 if (model_path != "") {
101 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model.");
110 bool FGAIBase::isa( object_type otype ) {
111 if ( otype == _otype ) { return true; }
112 else { return false; }
116 void FGAIBase::bind() {
117 props->tie("id", SGRawValuePointer<int>(&id));
118 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
119 props->tie("velocities/vertical-speed-fps",
120 SGRawValueMethods<FGAIBase,double>(*this,
121 &FGAIBase::_getVS_fps,
122 &FGAIBase::_setVS_fps));
124 props->tie("position/altitude-ft",
125 SGRawValueMethods<FGAIBase,double>(*this,
126 &FGAIBase::_getAltitude,
127 &FGAIBase::_setAltitude));
128 props->tie("position/latitude-deg",
129 SGRawValueMethods<FGAIBase,double>(*this,
130 &FGAIBase::_getLatitude,
131 &FGAIBase::_setLatitude));
132 props->tie("position/longitude-deg",
133 SGRawValueMethods<FGAIBase,double>(*this,
134 &FGAIBase::_getLongitude,
135 &FGAIBase::_setLongitude));
137 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
138 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
139 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
141 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
142 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
143 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
144 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
145 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
146 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
147 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
148 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
150 props->tie("controls/lighting/nav-lights",
151 SGRawValueFunctions<bool>(_isNight));
152 props->setBoolValue("controls/lighting/beacon", true);
153 props->setBoolValue("controls/lighting/strobe", true);
156 void FGAIBase::unbind() {
158 props->untie("velocities/true-airspeed-kt");
159 props->untie("velocities/vertical-speed-fps");
161 props->untie("position/altitude-ft");
162 props->untie("position/latitude-deg");
163 props->untie("position/longitude-deg");
165 props->untie("orientation/pitch-deg");
166 props->untie("orientation/roll-deg");
167 props->untie("orientation/true-heading-deg");
169 props->untie("radar/bearing-deg");
170 props->untie("radar/elevation-deg");
171 props->untie("radar/range-nm");
172 props->untie("radar/h-offset");
173 props->untie("radar/v-offset");
174 props->untie("radar/x-shift");
175 props->untie("radar/y-shift");
176 props->untie("radar/rotation");
178 props->untie("controls/lighting/nav-lights");
183 * getters and Setters
185 void FGAIBase::_setLongitude( double longitude ) {
186 pos.setlon(longitude);
188 void FGAIBase::_setLatitude ( double latitude ) {
189 pos.setlat(latitude);
192 double FGAIBase::_getLongitude() const {
195 double FGAIBase::_getLatitude () const {
198 double FGAIBase::_getRdot() const {
201 double FGAIBase::_getVS_fps() const {
204 void FGAIBase::_setVS_fps( double _vs ) {
208 double FGAIBase::_getAltitude() const {
211 void FGAIBase::_setAltitude( double _alt ) {
215 bool FGAIBase::_isNight() {
216 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);