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, bool enableHot) :
60 model_removed( fgGetNode("/ai/models/model-removed", true) ),
71 _refID( _newAIModelID() ),
76 tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
77 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
78 bearing = elevation = range = rdot = 0.0;
79 x_shift = y_shift = rotation = 0.0;
85 _impact_reported = false;
86 _collision_reported = false;
87 _expiry_reported = false;
99 userpos = SGGeod::fromDeg(0, 0);
101 pos = SGGeod::fromDeg(0, 0);
104 speed_north_deg_sec = 0;
105 speed_east_deg_sec = 0;
125 // explicitly disable HOT for (most) AI models
127 aip.getSceneGraph()->setNodeMask(~SG_NODEMASK_TERRAIN_BIT);
130 FGAIBase::~FGAIBase() {
131 // Unregister that one at the scenery manager
132 if (globals->get_scenery()) {
133 globals->get_scenery()->get_scene_graph()->removeChild(aip.getSceneGraph());
137 SGPropertyNode* parent = props->getParent();
140 model_removed->setStringValue(props->getPath());
146 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
151 setPath(scFileNode->getStringValue("model",
152 fgGetString("/sim/multiplay/default-model", default_model)));
154 setHeading(scFileNode->getDoubleValue("heading", 0.0));
155 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
156 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
157 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
158 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
159 setBank(scFileNode->getDoubleValue("roll", 0.0));
161 SGPropertyNode* submodels = scFileNode->getChild("submodels");
164 setServiceable(submodels->getBoolValue("serviceable", false));
165 setSMPath(submodels->getStringValue("path", ""));
170 void FGAIBase::update(double dt) {
172 if (_otype == otStatic)
175 if (_otype == otBallistic)
178 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
179 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
182 /** update LOD properties of the model */
183 void FGAIBase::updateLOD()
185 double maxRangeDetail = fgGetDouble("/sim/rendering/static-lod/ai-detailed", 10000.0);
186 double maxRangeBare = fgGetDouble("/sim/rendering/static-lod/ai-bare", 20000.0);
189 if( maxRangeDetail == 0.0 )
192 _model->setRange(0, 0.0, FLT_MAX);
193 _model->setRange(1, FLT_MAX, FLT_MAX);
197 _model->setRange(0, 0.0, maxRangeDetail);
198 _model->setRange(1, maxRangeDetail,maxRangeBare);
203 void FGAIBase::Transform() {
206 aip.setVisible(true);
207 aip.setPosition(pos);
210 aip.setOrientation(0.0, pitch, hdg);
212 aip.setOrientation(roll, pitch, hdg);
216 aip.setVisible(false);
222 bool FGAIBase::init(bool search_in_AI_path) {
225 if(search_in_AI_path)
227 // setup a modified Options structure, with only the $fg-root/AI defined;
228 // we'll check that first, then give the normal search logic a chance.
229 // this ensures that models in AI/ are preferred to normal models, where
231 osg::ref_ptr<osgDB::ReaderWriter::Options>
232 opt(osg::clone(osgDB::Registry::instance()->getOptions(), osg::CopyOp::SHALLOW_COPY));
234 SGPath ai_path(globals->get_fg_root(), "AI");
235 opt->setDatabasePath(ai_path.str());
237 f = osgDB::findDataFile(model_path, opt.get());
241 f = simgear::SGModelLib::findDataFile(model_path);
245 f = fgGetString("/sim/multiplay/default-model", default_model);
249 osg::Node * mdl = SGModelLib::loadPagedModel(f, props, new FGNasalModelData(props));
251 _model = new osg::LOD;
252 _model->setName("AI-model range animation node");
254 _model->addChild( mdl, 0, FLT_MAX );
255 _model->setCenterMode(osg::LOD::USE_BOUNDING_SPHERE_CENTER);
256 _model->setRangeMode(osg::LOD::DISTANCE_FROM_EYE_POINT);
257 // We really need low-resolution versions of AI/MP aircraft.
258 // Or at least dummy "stubs" with some default silhouette.
259 // _model->addChild( SGModelLib::loadPagedModel(fgGetString("/sim/multiplay/default-model", default_model),
260 // props, new FGNasalModelData(props)), FLT_MAX, FLT_MAX);
264 if (_model.valid() && _initialized == false) {
265 aip.init( _model.get() );
266 aip.setVisible(true);
268 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
271 } else if (!model_path.empty()) {
272 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
273 // not properly installed...
281 void FGAIBase::initModel(osg::Node *node)
283 if (_model.valid()) {
286 props->setStringValue("submodels/path", _path.c_str());
287 SG_LOG(SG_INPUT, SG_DEBUG, "AIBase: submodels/path " << _path);
291 props->setStringValue("parent-name", _parent.c_str());
294 fgSetString("/ai/models/model-added", props->getPath().c_str());
295 } else if (!model_path.empty()) {
296 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
303 bool FGAIBase::isa( object_type otype ) {
304 return otype == _otype;
308 void FGAIBase::bind() {
309 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
311 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
312 props->tie("velocities/vertical-speed-fps",
313 SGRawValueMethods<FGAIBase,double>(*this,
314 &FGAIBase::_getVS_fps,
315 &FGAIBase::_setVS_fps));
317 props->tie("position/altitude-ft",
318 SGRawValueMethods<FGAIBase,double>(*this,
319 &FGAIBase::_getAltitude,
320 &FGAIBase::_setAltitude));
321 props->tie("position/latitude-deg",
322 SGRawValueMethods<FGAIBase,double>(*this,
323 &FGAIBase::_getLatitude,
324 &FGAIBase::_setLatitude));
325 props->tie("position/longitude-deg",
326 SGRawValueMethods<FGAIBase,double>(*this,
327 &FGAIBase::_getLongitude,
328 &FGAIBase::_setLongitude));
330 props->tie("position/global-x",
331 SGRawValueMethods<FGAIBase,double>(*this,
332 &FGAIBase::_getCartPosX,
334 props->tie("position/global-y",
335 SGRawValueMethods<FGAIBase,double>(*this,
336 &FGAIBase::_getCartPosY,
338 props->tie("position/global-z",
339 SGRawValueMethods<FGAIBase,double>(*this,
340 &FGAIBase::_getCartPosZ,
342 props->tie("callsign",
343 SGRawValueMethods<FGAIBase,const char*>(*this,
344 &FGAIBase::_getCallsign,
347 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
348 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
349 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
351 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
352 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
353 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
354 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
355 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
356 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
357 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
358 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
359 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
360 props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
361 props->tie("subID", SGRawValuePointer<int>(&_subID));
362 props->tie("controls/lighting/nav-lights",
363 SGRawValueFunctions<bool>(_isNight));
364 props->setBoolValue("controls/lighting/beacon", true);
365 props->setBoolValue("controls/lighting/strobe", true);
366 props->setBoolValue("controls/glide-path", true);
368 props->setStringValue("controls/flight/lateral-mode", "roll");
369 props->setDoubleValue("controls/flight/target-hdg", hdg);
370 props->setDoubleValue("controls/flight/target-roll", roll);
372 props->setStringValue("controls/flight/longitude-mode", "alt");
373 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
374 props->setDoubleValue("controls/flight/target-pitch", pitch);
376 props->setDoubleValue("controls/flight/target-spd", speed);
380 void FGAIBase::unbind() {
382 props->untie("velocities/true-airspeed-kt");
383 props->untie("velocities/vertical-speed-fps");
385 props->untie("position/altitude-ft");
386 props->untie("position/latitude-deg");
387 props->untie("position/longitude-deg");
388 props->untie("position/global-x");
389 props->untie("position/global-y");
390 props->untie("position/global-z");
391 props->untie("callsign");
393 props->untie("orientation/pitch-deg");
394 props->untie("orientation/roll-deg");
395 props->untie("orientation/true-heading-deg");
397 props->untie("radar/in-range");
398 props->untie("radar/bearing-deg");
399 props->untie("radar/elevation-deg");
400 props->untie("radar/range-nm");
401 props->untie("radar/h-offset");
402 props->untie("radar/v-offset");
403 props->untie("radar/x-shift");
404 props->untie("radar/y-shift");
405 props->untie("radar/rotation");
406 props->untie("radar/ht-diff-ft");
408 props->untie("controls/lighting/nav-lights");
410 props->setBoolValue("/sim/controls/radar/", true);
414 double FGAIBase::UpdateRadar(FGAIManager* manager) {
415 bool control = fgGetBool("/sim/controls/radar", true);
417 if(!control) return 0;
419 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
420 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
421 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
422 radar_range_ft2 *= radar_range_ft2;
424 double user_latitude = manager->get_user_latitude();
425 double user_longitude = manager->get_user_longitude();
426 double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
427 double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
428 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
431 // Test whether the target is within radar range.
433 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
435 if ( in_range || force_on ) {
436 props->setBoolValue("radar/in-range", true);
438 // copy values from the AIManager
439 double user_altitude = manager->get_user_altitude();
440 double user_heading = manager->get_user_heading();
441 double user_pitch = manager->get_user_pitch();
442 //double user_yaw = manager->get_user_yaw();
443 //double user_speed = manager->get_user_speed();
445 // calculate range to target in feet and nautical miles
446 double range_ft = sqrt( range_ft2 );
447 range = range_ft / 6076.11549;
449 // calculate bearing to target
450 if (pos.getLatitudeDeg() >= user_latitude) {
451 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
452 if (pos.getLongitudeDeg() >= user_longitude) {
453 bearing = 90.0 - bearing;
455 bearing = 270.0 + bearing;
458 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
459 if (pos.getLongitudeDeg() >= user_longitude) {
460 bearing = 180.0 - bearing;
462 bearing = 180.0 + bearing;
466 // This is an alternate way to compute bearing and distance which
467 // agrees with the original scheme within about 0.1 degrees.
469 // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
470 // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
471 // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
472 // double gc_bearing, gc_range;
473 // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
474 // gc_range *= SG_METER_TO_NM;
475 // gc_bearing *= SGD_RADIANS_TO_DEGREES;
476 // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
477 // bearing, range, gc_bearing, gc_range);
479 // calculate look left/right to target, without yaw correction
480 horiz_offset = bearing - user_heading;
481 if (horiz_offset > 180.0) horiz_offset -= 360.0;
482 if (horiz_offset < -180.0) horiz_offset += 360.0;
484 // calculate elevation to target
485 elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
487 // calculate look up/down to target
488 vert_offset = elevation - user_pitch;
490 /* this calculation needs to be fixed, but it isn't important anyway
491 // calculate range rate
492 double recip_bearing = bearing + 180.0;
493 if (recip_bearing > 360.0) recip_bearing -= 360.0;
494 double my_horiz_offset = recip_bearing - hdg;
495 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
496 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
497 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
498 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
501 // now correct look left/right for yaw
502 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
504 // calculate values for radar display
505 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
506 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
507 rotation = hdg - user_heading;
508 if (rotation < 0.0) rotation += 360.0;
509 ht_diff = altitude_ft - user_altitude;
517 * Getters and Setters
520 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
521 // Transform that one to the horizontal local coordinate system.
522 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
524 // and postrotate the orientation of the AIModel wrt the horizontal
526 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
528 // The offset converted to the usual body fixed coordinate system
529 // rotated to the earth fixed coordinates axis
530 SGVec3d off = hlTrans.backTransform(_off);
532 // Add the position offset of the AIModel to gain the earth centered position
533 SGVec3d cartPos = SGVec3d::fromGeod(pos);
535 return cartPos + off;
538 SGVec3d FGAIBase::getCartPos() const {
539 SGVec3d cartPos = SGVec3d::fromGeod(pos);
543 bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
544 const SGMaterial** material) const {
545 return globals->get_scenery()->get_elevation_m(pos, elev, material,
549 double FGAIBase::_getCartPosX() const {
550 SGVec3d cartPos = getCartPos();
554 double FGAIBase::_getCartPosY() const {
555 SGVec3d cartPos = getCartPos();
559 double FGAIBase::_getCartPosZ() const {
560 SGVec3d cartPos = getCartPos();
564 void FGAIBase::_setLongitude( double longitude ) {
565 pos.setLongitudeDeg(longitude);
568 void FGAIBase::_setLatitude ( double latitude ) {
569 pos.setLatitudeDeg(latitude);
572 void FGAIBase::_setUserPos(){
573 userpos.setLatitudeDeg(manager->get_user_latitude());
574 userpos.setLongitudeDeg(manager->get_user_longitude());
575 userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
578 void FGAIBase::_setSubID( int s ) {
582 bool FGAIBase::setParentNode() {
585 SG_LOG(SG_GENERAL, SG_ALERT, "AIBase: " << _name
586 << " parent not set ");
590 const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
592 for (int i = ai->nChildren() - 1; i >= -1; i--) {
593 SGPropertyNode_ptr model;
595 if (i < 0) { // last iteration: selected model
596 model = _selected_ac;
598 model = ai->getChild(i);
599 string path = ai->getPath();
600 const string name = model->getStringValue("name");
602 if (!model->nChildren()){
605 if (name == _parent) {
606 _selected_ac = model; // save selected model for last iteration
616 if (_selected_ac != 0){
617 const string name = _selected_ac->getStringValue("name");
620 SG_LOG(SG_GENERAL, SG_ALERT, "AIBase: " << _name
621 << " parent not found: dying ");
628 double FGAIBase::_getLongitude() const {
629 return pos.getLongitudeDeg();
632 double FGAIBase::_getLatitude() const {
633 return pos.getLatitudeDeg();
636 double FGAIBase::_getElevationFt() const {
637 return pos.getElevationFt();
640 double FGAIBase::_getRdot() const {
644 double FGAIBase::_getVS_fps() const {
648 double FGAIBase::_get_speed_east_fps() const {
649 return speed_east_deg_sec * ft_per_deg_lon;
652 double FGAIBase::_get_speed_north_fps() const {
653 return speed_north_deg_sec * ft_per_deg_lat;
656 void FGAIBase::_setVS_fps( double _vs ) {
660 double FGAIBase::_getAltitude() const {
664 double FGAIBase::_getAltitudeAGL(SGGeod inpos, double start){
665 getGroundElevationM(SGGeod::fromGeodM(inpos, start),
666 _elevation_m, &_material);
667 return inpos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
670 bool FGAIBase::_getServiceable() const {
674 SGPropertyNode* FGAIBase::_getProps() const {
678 void FGAIBase::_setAltitude( double _alt ) {
682 bool FGAIBase::_isNight() {
683 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
686 bool FGAIBase::_getCollisionData() {
687 return _collision_reported;
690 bool FGAIBase::_getExpiryData() {
691 return _expiry_reported;
694 bool FGAIBase::_getImpactData() {
695 return _impact_reported;
698 double FGAIBase::_getImpactLat() const {
702 double FGAIBase::_getImpactLon() const {
706 double FGAIBase::_getImpactElevFt() const {
707 return _impact_elev * SG_METER_TO_FEET;
710 double FGAIBase::_getImpactPitch() const {
711 return _impact_pitch;
714 double FGAIBase::_getImpactRoll() const {
718 double FGAIBase::_getImpactHdg() const {
722 double FGAIBase::_getImpactSpeed() const {
723 return _impact_speed;
726 int FGAIBase::getID() const {
730 int FGAIBase::_getSubID() const {
734 double FGAIBase::_getSpeed() const {
738 double FGAIBase::_getRoll() const {
742 double FGAIBase::_getPitch() const {
746 double FGAIBase::_getHeading() const {
750 double FGAIBase::_getXOffset() const {
754 double FGAIBase::_getYOffset() const {
758 double FGAIBase::_getZOffset() const {
762 const char* FGAIBase::_getPath() const {
763 return model_path.c_str();
766 const char* FGAIBase::_getSMPath() const {
767 return _path.c_str();
770 const char* FGAIBase::_getName() const {
771 return _name.c_str();
774 const char* FGAIBase::_getCallsign() const {
775 return _callsign.c_str();
778 const char* FGAIBase::_getSubmodel() const {
779 return _submodel.c_str();
782 void FGAIBase::CalculateMach() {
783 // Calculate rho at altitude, using standard atmosphere
784 // For the temperature T and the pressure p,
785 double altitude = altitude_ft;
787 if (altitude < 36152) { // curve fits for the troposphere
788 T = 59 - 0.00356 * altitude;
789 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
790 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
792 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
793 } else { // upper stratosphere
794 T = -205.05 + (0.00164 * altitude);
795 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
798 rho = p / (1718 * (T + 459.7));
800 // calculate the speed of sound at altitude
801 // a = sqrt ( g * R * (T + 459.7))
803 // a = speed of sound [ft/s]
804 // g = specific heat ratio, which is usually equal to 1.4
805 // R = specific gas constant, which equals 1716 ft-lb/slug/R
806 a = sqrt ( 1.4 * 1716 * (T + 459.7));
808 // calculate Mach number
811 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
814 int FGAIBase::_newAIModelID() {
818 id++; // id = 0 is not allowed.