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/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/modellib.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 "AIModelData.hxx"
51 #include "AIManager.hxx"
53 const char *default_model = "Models/Geometry/glider.ac";
54 const double FGAIBase::e = 2.71828183;
55 const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
57 using namespace simgear;
59 FGAIBase::FGAIBase(object_type ot) :
61 model_removed( fgGetNode("/ai/models/model-removed", true) ),
73 _refID( _newAIModelID() ),
77 tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
78 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
79 bearing = elevation = range = rdot = 0.0;
80 x_shift = y_shift = rotation = 0.0;
86 _impact_reported = false;
87 _collision_reported = false;
91 FGAIBase::~FGAIBase() {
92 // Unregister that one at the scenery manager
93 if (globals->get_scenery()) {
94 globals->get_scenery()->get_scene_graph()->removeChild(aip.getSceneGraph());
98 SGPropertyNode* parent = props->getParent();
101 model_removed->setStringValue(props->getPath());
107 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
112 setPath(scFileNode->getStringValue("model",
113 fgGetString("/sim/multiplay/default-model", default_model)));
115 setHeading(scFileNode->getDoubleValue("heading", 0.0));
116 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
117 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
118 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
119 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
120 setBank(scFileNode->getDoubleValue("roll", 0.0));
122 SGPropertyNode* submodels = scFileNode->getChild("submodels");
125 setServiceable(submodels->getBoolValue("serviceable", false));
126 setSMPath(submodels->getStringValue("path", ""));
131 void FGAIBase::update(double dt) {
133 if (_otype == otStatic)
136 if (_otype == otBallistic)
139 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
140 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
143 void FGAIBase::Transform() {
146 aip.setVisible(true);
147 aip.setPosition(pos);
150 aip.setOrientation(0.0, pitch, hdg);
152 aip.setOrientation(roll, pitch, hdg);
156 aip.setVisible(false);
162 bool FGAIBase::init(bool search_in_AI_path) {
163 osg::ref_ptr<osgDB::ReaderWriter::Options> opt=
164 new osgDB::ReaderWriter::Options(*osgDB::Registry::instance()->getOptions());
166 if(search_in_AI_path)
168 SGPath ai_path(globals->get_fg_root());
169 ai_path.append("AI");
170 opt->getDatabasePathList().push_front(ai_path.str());
173 string f = osgDB::findDataFile(model_path, opt.get());
176 f = fgGetString("/sim/multiplay/default-model", default_model);
178 model = load3DModel(f, props);
180 if (model.valid() && _initialized == false) {
181 model->setNodeMask(model->getNodeMask() & ~SG_NODEMASK_TERRAIN_BIT);
182 aip.init( model.get() );
183 aip.setVisible(true);
185 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
188 } else if (!model_path.empty()) {
189 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
196 void FGAIBase::initModel(osg::Node *node)
199 fgSetString("/ai/models/model-added", props->getPath());
201 } else if (!model_path.empty()) {
202 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
205 props->setStringValue("submodels/path", _path.c_str());
210 osg::Node* FGAIBase::load3DModel(const string &path, SGPropertyNode *prop_root)
212 model = SGModelLib::loadPagedModel(path, prop_root, new FGAIModelData(this, prop_root));
216 bool FGAIBase::isa( object_type otype ) {
217 return otype == _otype;
221 void FGAIBase::bind() {
222 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
224 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
225 props->tie("velocities/vertical-speed-fps",
226 SGRawValueMethods<FGAIBase,double>(*this,
227 &FGAIBase::_getVS_fps,
228 &FGAIBase::_setVS_fps));
230 props->tie("position/altitude-ft",
231 SGRawValueMethods<FGAIBase,double>(*this,
232 &FGAIBase::_getAltitude,
233 &FGAIBase::_setAltitude));
234 props->tie("position/latitude-deg",
235 SGRawValueMethods<FGAIBase,double>(*this,
236 &FGAIBase::_getLatitude,
237 &FGAIBase::_setLatitude));
238 props->tie("position/longitude-deg",
239 SGRawValueMethods<FGAIBase,double>(*this,
240 &FGAIBase::_getLongitude,
241 &FGAIBase::_setLongitude));
243 props->tie("position/global-x",
244 SGRawValueMethods<FGAIBase,double>(*this,
245 &FGAIBase::_getCartPosX,
247 props->tie("position/global-y",
248 SGRawValueMethods<FGAIBase,double>(*this,
249 &FGAIBase::_getCartPosY,
251 props->tie("position/global-z",
252 SGRawValueMethods<FGAIBase,double>(*this,
253 &FGAIBase::_getCartPosZ,
255 props->tie("callsign",
256 SGRawValueMethods<FGAIBase,const char*>(*this,
257 &FGAIBase::_getCallsign,
260 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
261 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
262 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
264 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
265 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
266 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
267 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
268 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
269 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
270 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
271 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
272 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
273 props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
274 props->tie("subID", SGRawValuePointer<int>(&_subID));
275 props->tie("controls/lighting/nav-lights",
276 SGRawValueFunctions<bool>(_isNight));
277 props->setBoolValue("controls/lighting/beacon", true);
278 props->setBoolValue("controls/lighting/strobe", true);
279 props->setBoolValue("controls/glide-path", true);
281 props->setStringValue("controls/flight/lateral-mode", "roll");
282 props->setDoubleValue("controls/flight/target-hdg", hdg);
283 props->setDoubleValue("controls/flight/target-roll", roll);
285 props->setStringValue("controls/flight/longitude-mode", "alt");
286 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
287 props->setDoubleValue("controls/flight/target-pitch", pitch);
289 props->setDoubleValue("controls/flight/target-spd", speed);
293 void FGAIBase::unbind() {
295 props->untie("velocities/true-airspeed-kt");
296 props->untie("velocities/vertical-speed-fps");
298 props->untie("position/altitude-ft");
299 props->untie("position/latitude-deg");
300 props->untie("position/longitude-deg");
301 props->untie("position/global-x");
302 props->untie("position/global-y");
303 props->untie("position/global-z");
304 props->untie("callsign");
306 props->untie("orientation/pitch-deg");
307 props->untie("orientation/roll-deg");
308 props->untie("orientation/true-heading-deg");
310 props->untie("radar/in-range");
311 props->untie("radar/bearing-deg");
312 props->untie("radar/elevation-deg");
313 props->untie("radar/range-nm");
314 props->untie("radar/h-offset");
315 props->untie("radar/v-offset");
316 props->untie("radar/x-shift");
317 props->untie("radar/y-shift");
318 props->untie("radar/rotation");
319 props->untie("radar/ht-diff-ft");
321 props->untie("controls/lighting/nav-lights");
324 double FGAIBase::UpdateRadar(FGAIManager* manager) {
325 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
326 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
327 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
328 radar_range_ft2 *= radar_range_ft2;
330 double user_latitude = manager->get_user_latitude();
331 double user_longitude = manager->get_user_longitude();
332 double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
333 double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
334 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
337 // Test whether the target is within radar range.
339 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
341 if ( in_range || force_on ) {
342 props->setBoolValue("radar/in-range", true);
344 // copy values from the AIManager
345 double user_altitude = manager->get_user_altitude();
346 double user_heading = manager->get_user_heading();
347 double user_pitch = manager->get_user_pitch();
348 //double user_yaw = manager->get_user_yaw();
349 //double user_speed = manager->get_user_speed();
351 // calculate range to target in feet and nautical miles
352 double range_ft = sqrt( range_ft2 );
353 range = range_ft / 6076.11549;
355 // calculate bearing to target
356 if (pos.getLatitudeDeg() >= user_latitude) {
357 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
358 if (pos.getLongitudeDeg() >= user_longitude) {
359 bearing = 90.0 - bearing;
361 bearing = 270.0 + bearing;
364 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
365 if (pos.getLongitudeDeg() >= user_longitude) {
366 bearing = 180.0 - bearing;
368 bearing = 180.0 + bearing;
372 // This is an alternate way to compute bearing and distance which
373 // agrees with the original scheme within about 0.1 degrees.
375 // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
376 // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
377 // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
378 // double gc_bearing, gc_range;
379 // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
380 // gc_range *= SG_METER_TO_NM;
381 // gc_bearing *= SGD_RADIANS_TO_DEGREES;
382 // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
383 // bearing, range, gc_bearing, gc_range);
385 // calculate look left/right to target, without yaw correction
386 horiz_offset = bearing - user_heading;
387 if (horiz_offset > 180.0) horiz_offset -= 360.0;
388 if (horiz_offset < -180.0) horiz_offset += 360.0;
390 // calculate elevation to target
391 elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
393 // calculate look up/down to target
394 vert_offset = elevation - user_pitch;
396 /* this calculation needs to be fixed, but it isn't important anyway
397 // calculate range rate
398 double recip_bearing = bearing + 180.0;
399 if (recip_bearing > 360.0) recip_bearing -= 360.0;
400 double my_horiz_offset = recip_bearing - hdg;
401 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
402 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
403 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
404 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
407 // now correct look left/right for yaw
408 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
410 // calculate values for radar display
411 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
412 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
413 rotation = hdg - user_heading;
414 if (rotation < 0.0) rotation += 360.0;
415 ht_diff = altitude_ft - user_altitude;
423 * Getters and Setters
426 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
427 // Transform that one to the horizontal local coordinate system.
428 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
430 // and postrotate the orientation of the AIModel wrt the horizontal
432 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
434 // The offset converted to the usual body fixed coordinate system
435 // rotated to the earth fiexed coordinates axis
436 SGVec3d off = hlTrans.backTransform(_off);
438 // Add the position offset of the AIModel to gain the earth centered position
439 SGVec3d cartPos = SGVec3d::fromGeod(pos);
441 return cartPos + off;
444 SGVec3d FGAIBase::getCartPos() const {
445 SGVec3d cartPos = SGVec3d::fromGeod(pos);
449 double FGAIBase::_getCartPosX() const {
450 SGVec3d cartPos = getCartPos();
454 double FGAIBase::_getCartPosY() const {
455 SGVec3d cartPos = getCartPos();
459 double FGAIBase::_getCartPosZ() const {
460 SGVec3d cartPos = getCartPos();
464 void FGAIBase::_setLongitude( double longitude ) {
465 pos.setLongitudeDeg(longitude);
468 void FGAIBase::_setLatitude ( double latitude ) {
469 pos.setLatitudeDeg(latitude);
472 void FGAIBase::_setUserPos(){
473 userpos.setLatitudeDeg(manager->get_user_latitude());
474 userpos.setLongitudeDeg(manager->get_user_longitude());
475 userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
478 void FGAIBase::_setSubID( int s ) {
482 double FGAIBase::_getLongitude() const {
483 return pos.getLongitudeDeg();
486 double FGAIBase::_getLatitude() const {
487 return pos.getLatitudeDeg();
490 double FGAIBase::_getElevationFt () const {
491 return pos.getElevationFt();
494 double FGAIBase::_getRdot() const {
498 double FGAIBase::_getVS_fps() const {
502 double FGAIBase::_get_speed_east_fps() const {
503 return speed_east_deg_sec * ft_per_deg_lon;
506 double FGAIBase::_get_speed_north_fps() const {
507 return speed_north_deg_sec * ft_per_deg_lat;
510 void FGAIBase::_setVS_fps( double _vs ) {
514 double FGAIBase::_getAltitude() const {
518 bool FGAIBase::_getServiceable() const {
522 SGPropertyNode* FGAIBase::_getProps() const {
526 void FGAIBase::_setAltitude( double _alt ) {
530 bool FGAIBase::_isNight() {
531 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
534 bool FGAIBase::_getCollisionData() {
535 return _collision_reported;
538 bool FGAIBase::_getImpactData() {
539 return _impact_reported;
542 double FGAIBase::_getImpactLat() const {
546 double FGAIBase::_getImpactLon() const {
550 double FGAIBase::_getImpactElevFt() const {
551 return _impact_elev * SG_METER_TO_FEET;
554 double FGAIBase::_getImpactPitch() const {
555 return _impact_pitch;
558 double FGAIBase::_getImpactRoll() const {
562 double FGAIBase::_getImpactHdg() const {
566 double FGAIBase::_getImpactSpeed() const {
567 return _impact_speed;
570 int FGAIBase::getID() const {
574 int FGAIBase::_getSubID() const {
578 double FGAIBase::_getSpeed() const {
582 double FGAIBase::_getRoll() const {
586 double FGAIBase::_getPitch() const {
590 double FGAIBase::_getHeading() const {
594 double FGAIBase::_getXOffset() const {
598 double FGAIBase::_getYOffset() const {
602 double FGAIBase::_getZOffset() const {
606 const char* FGAIBase::_getPath() const {
607 return model_path.c_str();
610 const char* FGAIBase::_getSMPath() const {
611 return _path.c_str();
614 const char* FGAIBase::_getName() const {
615 return _name.c_str();
618 const char* FGAIBase::_getCallsign() const {
619 return _callsign.c_str();
622 const char* FGAIBase::_getSubmodel() const {
623 return _submodel.c_str();
626 void FGAIBase::CalculateMach() {
627 // Calculate rho at altitude, using standard atmosphere
628 // For the temperature T and the pressure p,
629 double altitude = altitude_ft;
631 if (altitude < 36152) { // curve fits for the troposphere
632 T = 59 - 0.00356 * altitude;
633 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
634 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
636 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
637 } else { // upper stratosphere
638 T = -205.05 + (0.00164 * altitude);
639 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
642 rho = p / (1718 * (T + 459.7));
644 // calculate the speed of sound at altitude
645 // a = sqrt ( g * R * (T + 459.7))
647 // a = speed of sound [ft/s]
648 // g = specific heat ratio, which is usually equal to 1.4
649 // R = specific gas constant, which equals 1716 ft-lb/slug/R
650 a = sqrt ( 1.4 * 1716 * (T + 459.7));
652 // calculate Mach number
655 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
658 int FGAIBase::_newAIModelID() {
662 id++; // id = 0 is not allowed.