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     life = 900;
  55     model_path = "";
  56     model = 0;
  57     _otype = otNull;
  58     index = 0;
  59     fp = (FGAIFlightPlan*)0;
  60     delete_me = false;
  61     manager = NULL;
  62 }
  63
  64 FGAIBase::~FGAIBase() {
  65     globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
  66     // unbind();
  67     SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
  68     root->removeChild(_type_str.c_str(), index);
  69     if (fp) delete fp;
  70 }
  71
  72 void FGAIBase::update(double dt) {
  73     ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES);
  74     ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES);
  75 }
  76
  77
  78 void FGAIBase::Transform() {
  79     if (!invisible) {
  80       aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
  81       if (no_roll) {
  82          aip.setOrientation(0.0, pitch, hdg);
  83       } else {
  84          aip.setOrientation(roll, pitch, hdg);
  85       }
  86       aip.update( globals->get_scenery()->get_center() );
  87     }
  88 }
  89
  90
  91 bool FGAIBase::init() {
  92
  93    SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
  94
  95    index = manager->getNum(_otype) - 1;
  96    props = root->getNode(_type_str.c_str(), index, true);
  97
  98    if (model_path != "") {
  99       model = sgLoad3DModel( globals->get_fg_root(),
 100                              model_path.c_str(),
 101                              props,
 102                              globals->get_sim_time_sec() );
 103    }
 104    if (model) {
 105      aip.init( model );
 106      aip.setVisible(true);
 107      invisible = false;
 108      globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
 109    } else {
 110      if (model_path != "") {
 111        SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model.");
 112      }
 113    }
 114
 115    setDie(false);
 116
 117    return true;
 118 }
 119
 120 bool FGAIBase::isa( object_type otype ) {
 121  if ( otype == _otype ) { return true; }
 122  else { return false; }
 123 }
 124
 125
 126 void FGAIBase::bind() {
 127    props->tie("id", SGRawValuePointer<int>(&id));
 128    props->tie("velocities/true-airspeed-kt",  SGRawValuePointer<double>(&speed));
 129    props->tie("velocities/vertical-speed-fps",
 130                SGRawValueMethods<FGAIBase,double>(*this,
 131                                          &FGAIBase::_getVS_fps,
 132                                          &FGAIBase::_setVS_fps));
 133
 134    props->tie("position/altitude-ft",
 135                SGRawValueMethods<FGAIBase,double>(*this,
 136                                          &FGAIBase::_getAltitude,
 137                                          &FGAIBase::_setAltitude));
 138    props->tie("position/latitude-deg",
 139                SGRawValueMethods<FGAIBase,double>(*this,
 140                                          &FGAIBase::_getLatitude,
 141                                          &FGAIBase::_setLatitude));
 142    props->tie("position/longitude-deg",
 143                SGRawValueMethods<FGAIBase,double>(*this,
 144                                          &FGAIBase::_getLongitude,
 145                                          &FGAIBase::_setLongitude));
 146
 147    props->tie("orientation/pitch-deg",   SGRawValuePointer<double>(&pitch));
 148    props->tie("orientation/roll-deg",    SGRawValuePointer<double>(&roll));
 149    props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
 150
 151    props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
 152    props->tie("radar/bearing-deg",   SGRawValuePointer<double>(&bearing));
 153    props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
 154    props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
 155    props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
 156    props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
 157    props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
 158    props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
 159    props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
 160
 161    props->tie("controls/lighting/nav-lights",
 162                SGRawValueFunctions<bool>(_isNight));
 163    props->setBoolValue("controls/lighting/beacon", true);
 164    props->setBoolValue("controls/lighting/strobe", true);
 165 }
 166
 167 void FGAIBase::unbind() {
 168     props->untie("id");
 169     props->untie("velocities/true-airspeed-kt");
 170     props->untie("velocities/vertical-speed-fps");
 171
 172     props->untie("position/altitude-ft");
 173     props->untie("position/latitude-deg");
 174     props->untie("position/longitude-deg");
 175
 176     props->untie("orientation/pitch-deg");
 177     props->untie("orientation/roll-deg");
 178     props->untie("orientation/true-heading-deg");
 179
 180     props->untie("radar/in-range");
 181     props->untie("radar/bearing-deg");
 182     props->untie("radar/elevation-deg");
 183     props->untie("radar/range-nm");
 184     props->untie("radar/h-offset");
 185     props->untie("radar/v-offset");
 186     props->untie("radar/x-shift");
 187     props->untie("radar/y-shift");
 188     props->untie("radar/rotation");
 189
 190     props->untie("controls/lighting/nav-lights");
 191 }
 192
 193 double FGAIBase::UpdateRadar(FGAIManager* manager)
 194 {
 195    double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
 196    radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
 197    radar_range_ft2 *= radar_range_ft2;
 198
 199    double user_latitude  = manager->get_user_latitude();
 200    double user_longitude = manager->get_user_longitude();
 201    double lat_range = fabs(pos.lat() - user_latitude) * ft_per_deg_lat;
 202    double lon_range = fabs(pos.lon() - user_longitude) * ft_per_deg_lon;
 203    double range_ft2 = lat_range*lat_range + lon_range*lon_range;
 204
 205    //
 206    // Test whether the target is within radar range.
 207    //
 208    in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
 209    if ( in_range )
 210    {
 211      props->setBoolValue("radar/in-range", true);
 212
 213      // copy values from the AIManager
 214      double user_altitude  = manager->get_user_altitude();
 215      double user_heading   = manager->get_user_heading();
 216      double user_pitch     = manager->get_user_pitch();
 217      double user_yaw       = manager->get_user_yaw();
 218      double user_speed     = manager->get_user_speed();
 219
 220      // calculate range to target in feet and nautical miles
 221      double range_ft = sqrt( range_ft2 );
 222      range = range_ft / 6076.11549;
 223
 224      // calculate bearing to target
 225      if (pos.lat() >= user_latitude) {
 226         bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
 227         if (pos.lon() >= user_longitude) {
 228            bearing = 90.0 - bearing;
 229         } else {
 230            bearing = 270.0 + bearing;
 231         }
 232      } else {
 233         bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
 234         if (pos.lon() >= user_longitude) {
 235            bearing = 180.0 - bearing;
 236         } else {
 237            bearing = 180.0 + bearing;
 238         }
 239      }
 240
 241      // calculate look left/right to target, without yaw correction
 242      horiz_offset = bearing - user_heading;
 243      if (horiz_offset > 180.0) horiz_offset -= 360.0;
 244      if (horiz_offset < -180.0) horiz_offset += 360.0;
 245
 246      // calculate elevation to target
 247      elevation = atan2( altitude * SG_METER_TO_FEET - user_altitude, range_ft )
 248                         * SG_RADIANS_TO_DEGREES;
 249
 250      // calculate look up/down to target
 251      vert_offset = elevation + user_pitch;
 252
 253      /* this calculation needs to be fixed, but it isn't important anyway
 254      // calculate range rate
 255      double recip_bearing = bearing + 180.0;
 256      if (recip_bearing > 360.0) recip_bearing -= 360.0;
 257      double my_horiz_offset = recip_bearing - hdg;
 258      if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
 259      if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
 260      rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
 261              +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
 262 */
 263
 264      // now correct look left/right for yaw
 265      horiz_offset += user_yaw;
 266
 267      // calculate values for radar display
 268      y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
 269      x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
 270      rotation = hdg - user_heading;
 271      if (rotation < 0.0) rotation += 360.0;
 272
 273    }
 274
 275    return range_ft2;
 276 }
 277
 278
 279 /*
 280  * getters and Setters
 281  */
 282 void FGAIBase::_setLongitude( double longitude ) {
 283     pos.setlon(longitude);
 284 }
 285 void FGAIBase::_setLatitude ( double latitude )  {
 286     pos.setlat(latitude);
 287 }
 288
 289 double FGAIBase::_getLongitude() const {
 290     return pos.lon();
 291 }
 292 double FGAIBase::_getLatitude () const {
 293     return pos.lat();
 294 }
 295 double FGAIBase::_getRdot() const {
 296     return rdot;
 297 }
 298 double FGAIBase::_getVS_fps() const {
 299     return vs*60.0;
 300 }
 301 void FGAIBase::_setVS_fps( double _vs ) {
 302     vs = _vs/60.0;
 303 }
 304
 305 double FGAIBase::_getAltitude() const {
 306     return altitude;
 307 }
 308 void FGAIBase::_setAltitude( double _alt ) {
 309     setAltitude( _alt );
 310 }
 311
 312 bool FGAIBase::_isNight() {
 313     return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
 314 }
 315