src/AIModel/AIBase.cxx

   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
   5 //
   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.
  10 //
  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.
  15 //
  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.
  19
  20
  21 #ifdef HAVE_CONFIG_H
  22 #  include <config.h>
  23 #endif
  24
  25 #include <simgear/compiler.h>
  26
  27 #include STL_STRING
  28
  29 #include <plib/sg.h>
  30 #include <plib/ssg.h>
  31
  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>
  38
  39 #include <Main/globals.hxx>
  40 #include <Scenery/scenery.hxx>
  41
  42
  43 #include "AIBase.hxx"
  44 #include "AIManager.hxx"
  45
  46 FGAIBase::FGAIBase() {
  47     _type_str = "model";
  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;
  51     in_range = false;
  52     invisible = true;
  53     no_roll = true;
  54     model_path = "";
  55     model = 0;
  56     _otype = otNull;
  57     index = 0;
  58     fp = (FGAIFlightPlan*)0;
  59 }
  60
  61 FGAIBase::~FGAIBase() {
  62     globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
  63     // unbind();
  64     SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
  65     root->removeChild(_type_str.c_str(), index);
  66     if (fp) delete fp;
  67 }
  68
  69 void FGAIBase::update(double dt) {
  70     ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES);
  71     ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES);
  72 }
  73
  74
  75 void FGAIBase::Transform() {
  76     if (!invisible) {
  77       aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
  78       if (no_roll) {
  79          aip.setOrientation(0.0, pitch, hdg);
  80       } else {
  81          aip.setOrientation(roll, pitch, hdg);
  82       }
  83       aip.update( globals->get_scenery()->get_center() );
  84     }
  85 }
  86
  87
  88 bool FGAIBase::init() {
  89
  90    SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
  91    index = manager->getNum(_otype) - 1;
  92    props = root->getNode(_type_str.c_str(), index, true);
  93    if (model_path != "") {
  94       model = sgLoad3DModel( globals->get_fg_root(),
  95                              model_path.c_str(),
  96                              props,
  97                              globals->get_sim_time_sec() );
  98    }
  99    if (model) {
 100      aip.init( model );
 101      aip.setVisible(true);
 102      invisible = false;
 103      globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
 104    } else {
 105      if (model_path != "") {
 106        SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model.");
 107      }
 108    }
 109
 110    setDie(false);
 111
 112    return true;
 113 }
 114
 115 bool FGAIBase::isa( object_type otype ) {
 116  if ( otype == _otype ) { return true; }
 117  else { return false; }
 118 }
 119
 120
 121 void FGAIBase::bind() {
 122    props->tie("id", SGRawValuePointer<int>(&id));
 123    props->tie("velocities/true-airspeed-kt",  SGRawValuePointer<double>(&speed));
 124    props->tie("velocities/vertical-speed-fps",
 125                SGRawValueMethods<FGAIBase,double>(*this,
 126                                          &FGAIBase::_getVS_fps,
 127                                          &FGAIBase::_setVS_fps));
 128
 129    props->tie("position/altitude-ft",
 130                SGRawValueMethods<FGAIBase,double>(*this,
 131                                          &FGAIBase::_getAltitude,
 132                                          &FGAIBase::_setAltitude));
 133    props->tie("position/latitude-deg",
 134                SGRawValueMethods<FGAIBase,double>(*this,
 135                                          &FGAIBase::_getLatitude,
 136                                          &FGAIBase::_setLatitude));
 137    props->tie("position/longitude-deg",
 138                SGRawValueMethods<FGAIBase,double>(*this,
 139                                          &FGAIBase::_getLongitude,
 140                                          &FGAIBase::_setLongitude));
 141
 142    props->tie("orientation/pitch-deg",   SGRawValuePointer<double>(&pitch));
 143    props->tie("orientation/roll-deg",    SGRawValuePointer<double>(&roll));
 144    props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
 145
 146    props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
 147    props->tie("radar/bearing-deg",   SGRawValuePointer<double>(&bearing));
 148    props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
 149    props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
 150    props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
 151    props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
 152    props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
 153    props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
 154    props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
 155
 156    props->tie("controls/lighting/nav-lights",
 157                SGRawValueFunctions<bool>(_isNight));
 158    props->setBoolValue("controls/lighting/beacon", true);
 159    props->setBoolValue("controls/lighting/strobe", true);
 160 }
 161
 162 void FGAIBase::unbind() {
 163     props->untie("id");
 164     props->untie("velocities/true-airspeed-kt");
 165     props->untie("velocities/vertical-speed-fps");
 166
 167     props->untie("position/altitude-ft");
 168     props->untie("position/latitude-deg");
 169     props->untie("position/longitude-deg");
 170
 171     props->untie("orientation/pitch-deg");
 172     props->untie("orientation/roll-deg");
 173     props->untie("orientation/true-heading-deg");
 174
 175     props->untie("radar/in-range");
 176     props->untie("radar/bearing-deg");
 177     props->untie("radar/elevation-deg");
 178     props->untie("radar/range-nm");
 179     props->untie("radar/h-offset");
 180     props->untie("radar/v-offset");
 181     props->untie("radar/x-shift");
 182     props->untie("radar/y-shift");
 183     props->untie("radar/rotation");
 184
 185     props->untie("controls/lighting/nav-lights");
 186 }
 187
 188 double FGAIBase::UpdateRadar(FGAIManager* manager)
 189 {
 190    double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
 191    radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
 192    radar_range_ft2 *= radar_range_ft2;
 193
 194    double user_latitude  = manager->get_user_latitude();
 195    double user_longitude = manager->get_user_longitude();
 196    double lat_range = fabs(pos.lat() - user_latitude) * ft_per_deg_lat;
 197    double lon_range = fabs(pos.lon() - user_longitude) * ft_per_deg_lon;
 198    double range_ft2 = lat_range*lat_range + lon_range*lon_range;
 199
 200    //
 201    // Test whether the target is within radar range.
 202    //
 203    in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
 204    if ( in_range )
 205    {
 206      props->setBoolValue("radar/in-range", true);
 207
 208      // copy values from the AIManager
 209      double user_altitude  = manager->get_user_altitude();
 210      double user_heading   = manager->get_user_heading();
 211      double user_pitch     = manager->get_user_pitch();
 212      double user_yaw       = manager->get_user_yaw();
 213      double user_speed     = manager->get_user_speed();
 214
 215      // calculate range to target in feet and nautical miles
 216      double range_ft = sqrt( range_ft2 );
 217      range = range_ft / 6076.11549;
 218
 219      // calculate bearing to target
 220      if (pos.lat() >= user_latitude) {
 221         bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
 222         if (pos.lon() >= user_longitude) {
 223            bearing = 90.0 - bearing;
 224         } else {
 225            bearing = 270.0 + bearing;
 226         }
 227      } else {
 228         bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
 229         if (pos.lon() >= user_longitude) {
 230            bearing = 180.0 - bearing;
 231         } else {
 232            bearing = 180.0 + bearing;
 233         }
 234      }
 235
 236      // calculate look left/right to target, without yaw correction
 237      horiz_offset = bearing - user_heading;
 238      if (horiz_offset > 180.0) horiz_offset -= 360.0;
 239      if (horiz_offset < -180.0) horiz_offset += 360.0;
 240
 241      // calculate elevation to target
 242      elevation = atan2( altitude * SG_METER_TO_FEET - user_altitude, range_ft )
 243                         * SG_RADIANS_TO_DEGREES;
 244
 245      // calculate look up/down to target
 246      vert_offset = elevation + user_pitch;
 247
 248      /* this calculation needs to be fixed, but it isn't important anyway
 249      // calculate range rate
 250      double recip_bearing = bearing + 180.0;
 251      if (recip_bearing > 360.0) recip_bearing -= 360.0;
 252      double my_horiz_offset = recip_bearing - hdg;
 253      if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
 254      if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
 255      rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
 256              +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
 257 */
 258
 259      // now correct look left/right for yaw
 260      horiz_offset += user_yaw;
 261
 262      // calculate values for radar display
 263      y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
 264      x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
 265      rotation = hdg - user_heading;
 266      if (rotation < 0.0) rotation += 360.0;
 267
 268    }
 269
 270    return range_ft2;
 271 }
 272
 273
 274 /*
 275  * getters and Setters
 276  */
 277 void FGAIBase::_setLongitude( double longitude ) {
 278     pos.setlon(longitude);
 279 }
 280 void FGAIBase::_setLatitude ( double latitude )  {
 281     pos.setlat(latitude);
 282 }
 283
 284 double FGAIBase::_getLongitude() const {
 285     return pos.lon();
 286 }
 287 double FGAIBase::_getLatitude () const {
 288     return pos.lat();
 289 }
 290 double FGAIBase::_getRdot() const {
 291     return rdot;
 292 }
 293 double FGAIBase::_getVS_fps() const {
 294     return vs*60.0;
 295 }
 296 void FGAIBase::_setVS_fps( double _vs ) {
 297     vs = _vs/60.0;
 298 }
 299
 300 double FGAIBase::_getAltitude() const {
 301     return altitude;
 302 }
 303 void FGAIBase::_setAltitude( double _alt ) {
 304     setAltitude( _alt );
 305 }
 306
 307 bool FGAIBase::_isNight() {
 308     return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
 309 }
 310