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) :
57 model_removed( fgGetNode("/ai/models/model-removed", true) ),
69 _refID( _newAIModelID() ),
73 tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
74 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
75 bearing = elevation = range = rdot = 0.0;
76 x_shift = y_shift = rotation = 0.0;
82 _impact_reported = false;
83 _collision_reported = false;
94 userpos = SGGeod::fromDeg(0, 0);
96 pos = SGGeod::fromDeg(0, 0);
99 speed_north_deg_sec = 0;
100 speed_east_deg_sec = 0;
121 FGAIBase::~FGAIBase() {
122 // Unregister that one at the scenery manager
123 if (globals->get_scenery()) {
124 globals->get_scenery()->get_scene_graph()->removeChild(aip.getSceneGraph());
128 SGPropertyNode* parent = props->getParent();
131 model_removed->setStringValue(props->getPath());
137 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
142 setPath(scFileNode->getStringValue("model",
143 fgGetString("/sim/multiplay/default-model", default_model)));
145 setHeading(scFileNode->getDoubleValue("heading", 0.0));
146 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
147 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
148 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
149 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
150 setBank(scFileNode->getDoubleValue("roll", 0.0));
152 SGPropertyNode* submodels = scFileNode->getChild("submodels");
155 setServiceable(submodels->getBoolValue("serviceable", false));
156 setSMPath(submodels->getStringValue("path", ""));
161 void FGAIBase::update(double dt) {
163 if (_otype == otStatic)
166 if (_otype == otBallistic)
169 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
170 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
173 void FGAIBase::Transform() {
176 aip.setVisible(true);
177 aip.setPosition(pos);
180 aip.setOrientation(0.0, pitch, hdg);
182 aip.setOrientation(roll, pitch, hdg);
186 aip.setVisible(false);
192 bool FGAIBase::init(bool search_in_AI_path) {
193 osg::ref_ptr<osgDB::ReaderWriter::Options> opt=
194 new osgDB::ReaderWriter::Options(*osgDB::Registry::instance()->getOptions());
196 if(search_in_AI_path)
198 SGPath ai_path(globals->get_fg_root());
199 ai_path.append("AI");
200 opt->getDatabasePathList().push_front(ai_path.str());
203 string f = osgDB::findDataFile(model_path, opt.get());
206 f = fgGetString("/sim/multiplay/default-model", default_model);
208 model = load3DModel(f, props);
210 if (model.valid() && _initialized == false) {
211 aip.init( model.get() );
212 aip.setVisible(true);
214 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
217 } else if (!model_path.empty()) {
218 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
225 void FGAIBase::initModel(osg::Node *node)
229 fgSetString("/ai/models/model-added", props->getPath().c_str());
231 } else if (!model_path.empty()) {
232 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
235 props->setStringValue("submodels/path", _path.c_str());
240 osg::Node* FGAIBase::load3DModel(const string &path, SGPropertyNode *prop_root)
242 model = SGModelLib::loadPagedModel(path, prop_root, new FGNasalModelData(prop_root));
243 initModel(model.get());
247 bool FGAIBase::isa( object_type otype ) {
248 return otype == _otype;
252 void FGAIBase::bind() {
253 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
255 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
256 props->tie("velocities/vertical-speed-fps",
257 SGRawValueMethods<FGAIBase,double>(*this,
258 &FGAIBase::_getVS_fps,
259 &FGAIBase::_setVS_fps));
261 props->tie("position/altitude-ft",
262 SGRawValueMethods<FGAIBase,double>(*this,
263 &FGAIBase::_getAltitude,
264 &FGAIBase::_setAltitude));
265 props->tie("position/latitude-deg",
266 SGRawValueMethods<FGAIBase,double>(*this,
267 &FGAIBase::_getLatitude,
268 &FGAIBase::_setLatitude));
269 props->tie("position/longitude-deg",
270 SGRawValueMethods<FGAIBase,double>(*this,
271 &FGAIBase::_getLongitude,
272 &FGAIBase::_setLongitude));
274 props->tie("position/global-x",
275 SGRawValueMethods<FGAIBase,double>(*this,
276 &FGAIBase::_getCartPosX,
278 props->tie("position/global-y",
279 SGRawValueMethods<FGAIBase,double>(*this,
280 &FGAIBase::_getCartPosY,
282 props->tie("position/global-z",
283 SGRawValueMethods<FGAIBase,double>(*this,
284 &FGAIBase::_getCartPosZ,
286 props->tie("callsign",
287 SGRawValueMethods<FGAIBase,const char*>(*this,
288 &FGAIBase::_getCallsign,
291 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
292 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
293 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
295 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
296 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
297 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
298 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
299 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
300 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
301 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
302 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
303 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
304 props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
305 props->tie("subID", SGRawValuePointer<int>(&_subID));
306 props->tie("controls/lighting/nav-lights",
307 SGRawValueFunctions<bool>(_isNight));
308 props->setBoolValue("controls/lighting/beacon", true);
309 props->setBoolValue("controls/lighting/strobe", true);
310 props->setBoolValue("controls/glide-path", true);
312 props->setStringValue("controls/flight/lateral-mode", "roll");
313 props->setDoubleValue("controls/flight/target-hdg", hdg);
314 props->setDoubleValue("controls/flight/target-roll", roll);
316 props->setStringValue("controls/flight/longitude-mode", "alt");
317 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
318 props->setDoubleValue("controls/flight/target-pitch", pitch);
320 props->setDoubleValue("controls/flight/target-spd", speed);
324 void FGAIBase::unbind() {
326 props->untie("velocities/true-airspeed-kt");
327 props->untie("velocities/vertical-speed-fps");
329 props->untie("position/altitude-ft");
330 props->untie("position/latitude-deg");
331 props->untie("position/longitude-deg");
332 props->untie("position/global-x");
333 props->untie("position/global-y");
334 props->untie("position/global-z");
335 props->untie("callsign");
337 props->untie("orientation/pitch-deg");
338 props->untie("orientation/roll-deg");
339 props->untie("orientation/true-heading-deg");
341 props->untie("radar/in-range");
342 props->untie("radar/bearing-deg");
343 props->untie("radar/elevation-deg");
344 props->untie("radar/range-nm");
345 props->untie("radar/h-offset");
346 props->untie("radar/v-offset");
347 props->untie("radar/x-shift");
348 props->untie("radar/y-shift");
349 props->untie("radar/rotation");
350 props->untie("radar/ht-diff-ft");
352 props->untie("controls/lighting/nav-lights");
354 props->setBoolValue("/sim/controls/radar/", true);
358 double FGAIBase::UpdateRadar(FGAIManager* manager) {
359 bool control = fgGetBool("/sim/controls/radar", true);
361 if(!control) return 0;
363 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
364 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
365 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
366 radar_range_ft2 *= radar_range_ft2;
368 double user_latitude = manager->get_user_latitude();
369 double user_longitude = manager->get_user_longitude();
370 double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
371 double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
372 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
375 // Test whether the target is within radar range.
377 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
379 if ( in_range || force_on ) {
380 props->setBoolValue("radar/in-range", true);
382 // copy values from the AIManager
383 double user_altitude = manager->get_user_altitude();
384 double user_heading = manager->get_user_heading();
385 double user_pitch = manager->get_user_pitch();
386 //double user_yaw = manager->get_user_yaw();
387 //double user_speed = manager->get_user_speed();
389 // calculate range to target in feet and nautical miles
390 double range_ft = sqrt( range_ft2 );
391 range = range_ft / 6076.11549;
393 // calculate bearing to target
394 if (pos.getLatitudeDeg() >= user_latitude) {
395 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
396 if (pos.getLongitudeDeg() >= user_longitude) {
397 bearing = 90.0 - bearing;
399 bearing = 270.0 + bearing;
402 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
403 if (pos.getLongitudeDeg() >= user_longitude) {
404 bearing = 180.0 - bearing;
406 bearing = 180.0 + bearing;
410 // This is an alternate way to compute bearing and distance which
411 // agrees with the original scheme within about 0.1 degrees.
413 // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
414 // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
415 // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
416 // double gc_bearing, gc_range;
417 // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
418 // gc_range *= SG_METER_TO_NM;
419 // gc_bearing *= SGD_RADIANS_TO_DEGREES;
420 // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
421 // bearing, range, gc_bearing, gc_range);
423 // calculate look left/right to target, without yaw correction
424 horiz_offset = bearing - user_heading;
425 if (horiz_offset > 180.0) horiz_offset -= 360.0;
426 if (horiz_offset < -180.0) horiz_offset += 360.0;
428 // calculate elevation to target
429 elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
431 // calculate look up/down to target
432 vert_offset = elevation - user_pitch;
434 /* this calculation needs to be fixed, but it isn't important anyway
435 // calculate range rate
436 double recip_bearing = bearing + 180.0;
437 if (recip_bearing > 360.0) recip_bearing -= 360.0;
438 double my_horiz_offset = recip_bearing - hdg;
439 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
440 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
441 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
442 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
445 // now correct look left/right for yaw
446 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
448 // calculate values for radar display
449 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
450 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
451 rotation = hdg - user_heading;
452 if (rotation < 0.0) rotation += 360.0;
453 ht_diff = altitude_ft - user_altitude;
461 * Getters and Setters
464 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
465 // Transform that one to the horizontal local coordinate system.
466 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
468 // and postrotate the orientation of the AIModel wrt the horizontal
470 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
472 // The offset converted to the usual body fixed coordinate system
473 // rotated to the earth fiexed coordinates axis
474 SGVec3d off = hlTrans.backTransform(_off);
476 // Add the position offset of the AIModel to gain the earth centered position
477 SGVec3d cartPos = SGVec3d::fromGeod(pos);
479 return cartPos + off;
482 SGVec3d FGAIBase::getCartPos() const {
483 SGVec3d cartPos = SGVec3d::fromGeod(pos);
487 bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
488 const SGMaterial** material) const {
489 return globals->get_scenery()->get_elevation_m(pos, elev, material,
493 double FGAIBase::_getCartPosX() const {
494 SGVec3d cartPos = getCartPos();
498 double FGAIBase::_getCartPosY() const {
499 SGVec3d cartPos = getCartPos();
503 double FGAIBase::_getCartPosZ() const {
504 SGVec3d cartPos = getCartPos();
508 void FGAIBase::_setLongitude( double longitude ) {
509 pos.setLongitudeDeg(longitude);
512 void FGAIBase::_setLatitude ( double latitude ) {
513 pos.setLatitudeDeg(latitude);
516 void FGAIBase::_setUserPos(){
517 userpos.setLatitudeDeg(manager->get_user_latitude());
518 userpos.setLongitudeDeg(manager->get_user_longitude());
519 userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
522 void FGAIBase::_setSubID( int s ) {
526 double FGAIBase::_getLongitude() const {
527 return pos.getLongitudeDeg();
530 double FGAIBase::_getLatitude() const {
531 return pos.getLatitudeDeg();
534 double FGAIBase::_getElevationFt () const {
535 return pos.getElevationFt();
538 double FGAIBase::_getRdot() const {
542 double FGAIBase::_getVS_fps() const {
546 double FGAIBase::_get_speed_east_fps() const {
547 return speed_east_deg_sec * ft_per_deg_lon;
550 double FGAIBase::_get_speed_north_fps() const {
551 return speed_north_deg_sec * ft_per_deg_lat;
554 void FGAIBase::_setVS_fps( double _vs ) {
558 double FGAIBase::_getAltitude() const {
562 bool FGAIBase::_getServiceable() const {
566 SGPropertyNode* FGAIBase::_getProps() const {
570 void FGAIBase::_setAltitude( double _alt ) {
574 bool FGAIBase::_isNight() {
575 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
578 bool FGAIBase::_getCollisionData() {
579 return _collision_reported;
582 bool FGAIBase::_getImpactData() {
583 return _impact_reported;
586 double FGAIBase::_getImpactLat() const {
590 double FGAIBase::_getImpactLon() const {
594 double FGAIBase::_getImpactElevFt() const {
595 return _impact_elev * SG_METER_TO_FEET;
598 double FGAIBase::_getImpactPitch() const {
599 return _impact_pitch;
602 double FGAIBase::_getImpactRoll() const {
606 double FGAIBase::_getImpactHdg() const {
610 double FGAIBase::_getImpactSpeed() const {
611 return _impact_speed;
614 int FGAIBase::getID() const {
618 int FGAIBase::_getSubID() const {
622 double FGAIBase::_getSpeed() const {
626 double FGAIBase::_getRoll() const {
630 double FGAIBase::_getPitch() const {
634 double FGAIBase::_getHeading() const {
638 double FGAIBase::_getXOffset() const {
642 double FGAIBase::_getYOffset() const {
646 double FGAIBase::_getZOffset() const {
650 const char* FGAIBase::_getPath() const {
651 return model_path.c_str();
654 const char* FGAIBase::_getSMPath() const {
655 return _path.c_str();
658 const char* FGAIBase::_getName() const {
659 return _name.c_str();
662 const char* FGAIBase::_getCallsign() const {
663 return _callsign.c_str();
666 const char* FGAIBase::_getSubmodel() const {
667 return _submodel.c_str();
670 void FGAIBase::CalculateMach() {
671 // Calculate rho at altitude, using standard atmosphere
672 // For the temperature T and the pressure p,
673 double altitude = altitude_ft;
675 if (altitude < 36152) { // curve fits for the troposphere
676 T = 59 - 0.00356 * altitude;
677 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
678 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
680 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
681 } else { // upper stratosphere
682 T = -205.05 + (0.00164 * altitude);
683 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
686 rho = p / (1718 * (T + 459.7));
688 // calculate the speed of sound at altitude
689 // a = sqrt ( g * R * (T + 459.7))
691 // a = speed of sound [ft/s]
692 // g = specific heat ratio, which is usually equal to 1.4
693 // R = specific gas constant, which equals 1716 ft-lb/slug/R
694 a = sqrt ( 1.4 * 1716 * (T + 459.7));
696 // calculate Mach number
699 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
702 int FGAIBase::_newAIModelID() {
706 id++; // id = 0 is not allowed.