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.
28 #include <simgear/compiler.h>
32 #include <osg/ref_ptr>
35 #include <simgear/math/point3d.hxx>
36 #include <simgear/math/polar3d.hxx>
37 #include <simgear/math/sg_geodesy.hxx>
38 #include <simgear/misc/sg_path.hxx>
39 #include <simgear/scene/model/location.hxx>
40 #include <simgear/scene/model/model.hxx>
41 #include <simgear/scene/util/SGNodeMasks.hxx>
42 #include <simgear/debug/logstream.hxx>
43 #include <simgear/props/props.hxx>
45 #include <Main/globals.hxx>
46 #include <Scenery/scenery.hxx>
47 #include <Scripting/NasalSys.hxx>
50 #include "AIManager.hxx"
52 const double FGAIBase::e = 2.71828183;
53 const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
56 FGAIBase::FGAIBase(object_type ot) :
58 model_removed( fgGetNode("/ai/models/model-removed", true) ),
70 _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;
87 FGAIBase::~FGAIBase() {
88 // Unregister that one at the scenery manager
89 if (globals->get_scenery()) {
90 globals->get_scenery()->get_scene_graph()->removeChild(aip.getSceneGraph());
94 SGPropertyNode* parent = props->getParent();
97 model_removed->setStringValue(props->getPath());
103 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
108 setPath(scFileNode->getStringValue("model", "Models/Geometry/glider.ac"));
110 setHeading(scFileNode->getDoubleValue("heading", 0.0));
111 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
112 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
113 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
114 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
115 setBank(scFileNode->getDoubleValue("roll", 0.0));
117 SGPropertyNode* submodels = scFileNode->getChild("submodels");
120 setServiceable(submodels->getBoolValue("serviceable", false));
121 setSMPath(submodels->getStringValue("path", ""));
126 void FGAIBase::update(double dt) {
128 if (_otype == otStatic)
131 if (_otype == otBallistic)
134 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
135 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
138 void FGAIBase::Transform() {
141 aip.setPosition(pos);
144 aip.setOrientation(0.0, pitch, hdg);
146 aip.setOrientation(roll, pitch, hdg);
153 bool FGAIBase::init(bool search_in_AI_path) {
155 if (!model_path.empty()) {
157 if ( search_in_AI_path
158 && (model_path.substr(model_path.size() - 4, 4) == ".xml")) {
159 SGPath ai_path("AI");
160 ai_path.append(model_path);
162 model = load3DModel( globals->get_fg_root(), ai_path.str(), props,
163 globals->get_sim_time_sec() );
164 } catch (const sg_exception &e) {
172 model = load3DModel( globals->get_fg_root(), model_path, props,
173 globals->get_sim_time_sec() );
174 } catch (const sg_exception &e) {
182 aip.init( model.get() );
183 aip.setVisible(true);
185 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
186 fgSetString("/ai/models/model-added", props->getPath());
188 } else if (!model_path.empty()) {
189 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
192 props->setStringValue("submodels/path", _path.c_str());
198 osg::Node* FGAIBase::load3DModel(const string& fg_root,
200 SGPropertyNode *prop_root,
203 model = sgLoad3DModel(fg_root, path, prop_root, sim_time_sec, 0,
204 new FGNasalModelData(prop_root));
205 model->setNodeMask(model->getNodeMask() & ~SG_NODEMASK_TERRAIN_BIT);
209 bool FGAIBase::isa( object_type otype ) {
210 return otype == _otype;
214 void FGAIBase::bind() {
215 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
217 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
218 props->tie("velocities/vertical-speed-fps",
219 SGRawValueMethods<FGAIBase,double>(*this,
220 &FGAIBase::_getVS_fps,
221 &FGAIBase::_setVS_fps));
223 props->tie("position/altitude-ft",
224 SGRawValueMethods<FGAIBase,double>(*this,
225 &FGAIBase::_getAltitude,
226 &FGAIBase::_setAltitude));
227 props->tie("position/latitude-deg",
228 SGRawValueMethods<FGAIBase,double>(*this,
229 &FGAIBase::_getLatitude,
230 &FGAIBase::_setLatitude));
231 props->tie("position/longitude-deg",
232 SGRawValueMethods<FGAIBase,double>(*this,
233 &FGAIBase::_getLongitude,
234 &FGAIBase::_setLongitude));
236 props->tie("position/global-x",
237 SGRawValueMethods<FGAIBase,double>(*this,
238 &FGAIBase::_getCartPosX,
240 props->tie("position/global-y",
241 SGRawValueMethods<FGAIBase,double>(*this,
242 &FGAIBase::_getCartPosY,
244 props->tie("position/global-z",
245 SGRawValueMethods<FGAIBase,double>(*this,
246 &FGAIBase::_getCartPosZ,
249 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
250 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
251 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
253 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
254 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
255 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
256 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
257 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
258 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
259 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
260 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
261 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
262 props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
263 props->tie("subID", SGRawValuePointer<int>(&_subID));
264 props->tie("controls/lighting/nav-lights",
265 SGRawValueFunctions<bool>(_isNight));
266 props->setBoolValue("controls/lighting/beacon", true);
267 props->setBoolValue("controls/lighting/strobe", true);
268 props->setBoolValue("controls/glide-path", true);
270 props->setStringValue("controls/flight/lateral-mode", "roll");
271 props->setDoubleValue("controls/flight/target-hdg", hdg);
272 props->setDoubleValue("controls/flight/target-roll", roll);
274 props->setStringValue("controls/flight/longitude-mode", "alt");
275 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
276 props->setDoubleValue("controls/flight/target-pitch", pitch);
278 props->setDoubleValue("controls/flight/target-spd", speed);
282 void FGAIBase::unbind() {
284 props->untie("velocities/true-airspeed-kt");
285 props->untie("velocities/vertical-speed-fps");
287 props->untie("position/altitude-ft");
288 props->untie("position/latitude-deg");
289 props->untie("position/longitude-deg");
290 props->untie("position/global-x");
291 props->untie("position/global-y");
292 props->untie("position/global-z");
294 props->untie("orientation/pitch-deg");
295 props->untie("orientation/roll-deg");
296 props->untie("orientation/true-heading-deg");
298 props->untie("radar/in-range");
299 props->untie("radar/bearing-deg");
300 props->untie("radar/elevation-deg");
301 props->untie("radar/range-nm");
302 props->untie("radar/h-offset");
303 props->untie("radar/v-offset");
304 props->untie("radar/x-shift");
305 props->untie("radar/y-shift");
306 props->untie("radar/rotation");
307 props->untie("radar/ht-diff-ft");
309 props->untie("controls/lighting/nav-lights");
312 double FGAIBase::UpdateRadar(FGAIManager* manager) {
313 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
314 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
315 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
316 radar_range_ft2 *= radar_range_ft2;
318 double user_latitude = manager->get_user_latitude();
319 double user_longitude = manager->get_user_longitude();
320 double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
321 double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
322 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
325 // Test whether the target is within radar range.
327 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
329 if ( in_range || force_on ) {
330 props->setBoolValue("radar/in-range", true);
332 // copy values from the AIManager
333 double user_altitude = manager->get_user_altitude();
334 double user_heading = manager->get_user_heading();
335 double user_pitch = manager->get_user_pitch();
336 //double user_yaw = manager->get_user_yaw();
337 //double user_speed = manager->get_user_speed();
339 // calculate range to target in feet and nautical miles
340 double range_ft = sqrt( range_ft2 );
341 range = range_ft / 6076.11549;
343 // calculate bearing to target
344 if (pos.getLatitudeDeg() >= user_latitude) {
345 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
346 if (pos.getLongitudeDeg() >= user_longitude) {
347 bearing = 90.0 - bearing;
349 bearing = 270.0 + bearing;
352 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
353 if (pos.getLongitudeDeg() >= user_longitude) {
354 bearing = 180.0 - bearing;
356 bearing = 180.0 + bearing;
360 // This is an alternate way to compute bearing and distance which
361 // agrees with the original scheme within about 0.1 degrees.
363 // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
364 // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
365 // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
366 // double gc_bearing, gc_range;
367 // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
368 // gc_range *= SG_METER_TO_NM;
369 // gc_bearing *= SGD_RADIANS_TO_DEGREES;
370 // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
371 // bearing, range, gc_bearing, gc_range);
373 // calculate look left/right to target, without yaw correction
374 horiz_offset = bearing - user_heading;
375 if (horiz_offset > 180.0) horiz_offset -= 360.0;
376 if (horiz_offset < -180.0) horiz_offset += 360.0;
378 // calculate elevation to target
379 elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
381 // calculate look up/down to target
382 vert_offset = elevation - user_pitch;
384 /* this calculation needs to be fixed, but it isn't important anyway
385 // calculate range rate
386 double recip_bearing = bearing + 180.0;
387 if (recip_bearing > 360.0) recip_bearing -= 360.0;
388 double my_horiz_offset = recip_bearing - hdg;
389 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
390 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
391 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
392 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
395 // now correct look left/right for yaw
396 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
398 // calculate values for radar display
399 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
400 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
401 rotation = hdg - user_heading;
402 if (rotation < 0.0) rotation += 360.0;
403 ht_diff = altitude_ft - user_altitude;
411 * Getters and Setters
414 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
415 // Transform that one to the horizontal local coordinate system.
416 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
418 // and postrotate the orientation of the AIModel wrt the horizontal
420 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
422 // The offset converted to the usual body fixed coordinate system
423 // rotated to the earth fiexed coordinates axis
424 SGVec3d off = hlTrans.backTransform(_off);
426 // Add the position offset of the AIModel to gain the earth centered position
427 SGVec3d cartPos = SGVec3d::fromGeod(pos);
429 return cartPos + off;
432 SGVec3d FGAIBase::getCartPos() const {
433 // Transform that one to the horizontal local coordinate system.
434 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
436 // and postrotate the orientation of the AIModel wrt the horizontal
438 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
440 SGVec3d cartPos = SGVec3d::fromGeod(pos);
445 double FGAIBase::_getCartPosX() const {
446 SGVec3d cartPos = getCartPos();
450 double FGAIBase::_getCartPosY() const {
451 SGVec3d cartPos = getCartPos();
455 double FGAIBase::_getCartPosZ() const {
456 SGVec3d cartPos = getCartPos();
460 void FGAIBase::_setLongitude( double longitude ) {
461 pos.setLongitudeDeg(longitude);
464 void FGAIBase::_setLatitude ( double latitude ) {
465 pos.setLatitudeDeg(latitude);
468 void FGAIBase::_setSubID( int s ) {
472 double FGAIBase::_getLongitude() const {
473 return pos.getLongitudeDeg();
476 double FGAIBase::_getLatitude() const {
477 return pos.getLatitudeDeg();
480 double FGAIBase::_getElevationFt () const {
481 return pos.getElevationFt();
484 double FGAIBase::_getRdot() const {
488 double FGAIBase::_getVS_fps() const {
492 double FGAIBase::_get_speed_east_fps() const {
493 return speed_east_deg_sec * ft_per_deg_lon;
496 double FGAIBase::_get_speed_north_fps() const {
497 return speed_north_deg_sec * ft_per_deg_lat;
500 void FGAIBase::_setVS_fps( double _vs ) {
504 double FGAIBase::_getAltitude() const {
508 bool FGAIBase::_getServiceable() const {
512 SGPropertyNode* FGAIBase::_getProps() const {
516 void FGAIBase::_setAltitude( double _alt ) {
520 bool FGAIBase::_isNight() {
521 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
524 bool FGAIBase::_getCollisionData() {
525 return _collision_reported;
528 bool FGAIBase::_getImpactData() {
529 return _impact_reported;
532 double FGAIBase::_getImpactLat() const {
536 double FGAIBase::_getImpactLon() const {
540 double FGAIBase::_getImpactElevFt() const {
541 return _impact_elev * SG_METER_TO_FEET;
544 double FGAIBase::_getImpactPitch() const {
545 return _impact_pitch;
548 double FGAIBase::_getImpactRoll() const {
552 double FGAIBase::_getImpactHdg() const {
556 double FGAIBase::_getImpactSpeed() const {
557 return _impact_speed;
560 int FGAIBase::getID() const {
564 int FGAIBase::_getSubID() const {
568 double FGAIBase::_getSpeed() const {
572 double FGAIBase::_getRoll() const {
576 double FGAIBase::_getPitch() const {
580 double FGAIBase::_getHeading() const {
584 const char* FGAIBase::_getPath() {
585 return _path.c_str();
588 const char* FGAIBase::_getName() {
589 return _name.c_str();
592 const char* FGAIBase::_getCallsign() {
593 return _callsign.c_str();
596 const char* FGAIBase::_getSubmodel() {
597 return _submodel.c_str();
601 void FGAIBase::CalculateMach() {
602 // Calculate rho at altitude, using standard atmosphere
603 // For the temperature T and the pressure p,
604 double altitude = altitude_ft;
606 if (altitude < 36152) { // curve fits for the troposphere
607 T = 59 - 0.00356 * altitude;
608 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
609 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
611 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
612 } else { // upper stratosphere
613 T = -205.05 + (0.00164 * altitude);
614 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
617 rho = p / (1718 * (T + 459.7));
619 // calculate the speed of sound at altitude
620 // a = sqrt ( g * R * (T + 459.7))
622 // a = speed of sound [ft/s]
623 // g = specific heat ratio, which is usually equal to 1.4
624 // R = specific gas constant, which equals 1716 ft-lb/slug/°R
625 a = sqrt ( 1.4 * 1716 * (T + 459.7));
627 // calculate Mach number
630 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
633 int FGAIBase::_newAIModelID() {
637 id++; // id = 0 is not allowed.