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.
29 #include <simgear/compiler.h>
31 #include <boost/foreach.hpp>
34 #include <osg/ref_ptr>
36 #include <osgDB/FileUtils>
38 #include <simgear/misc/sg_path.hxx>
39 #include <simgear/scene/model/modellib.hxx>
40 #include <simgear/scene/util/SGNodeMasks.hxx>
41 #include <simgear/debug/logstream.hxx>
42 #include <simgear/props/props.hxx>
44 #include <Main/globals.hxx>
45 #include <Scenery/scenery.hxx>
46 #include <Scripting/NasalSys.hxx>
47 #include <Scripting/NasalModelData.hxx>
48 #include <Sound/fg_fx.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
58 using namespace simgear;
60 class FGAIModelData : public simgear::SGModelData {
62 FGAIModelData(SGPropertyNode *root = NULL)
63 : _nasal( new FGNasalModelDataProxy(root) ),
74 virtual FGAIModelData* clone() const { return new FGAIModelData(); }
76 /** osg callback, thread-safe */
77 void modelLoaded(const std::string& path, SGPropertyNode *prop, osg::Node *n)
79 // WARNING: Called in a separate OSG thread! Only use thread-safe stuff here...
83 _fxpath = prop->getStringValue("sound/path");
84 _nasal->modelLoaded(path, prop, n);
90 /** init hook to be called after model is loaded.
91 * Not thread-safe. Call from main thread only. */
92 void init(void) { _initialized = true; }
94 bool needInitilization(void) { return _ready && !_initialized;}
95 bool isInitialized(void) { return _initialized;}
96 inline std::string& get_sound_path() { return _fxpath;}
99 std::auto_ptr<FGNasalModelDataProxy> _nasal;
105 FGAIBase::FGAIBase(object_type ot, bool enableHot) :
110 model_removed( fgGetNode("/ai/models/model-removed", true) ),
121 _refID( _newAIModelID() ),
127 tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
128 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
129 bearing = elevation = range = rdot = 0.0;
130 x_shift = y_shift = rotation = 0.0;
136 _impact_reported = false;
137 _collision_reported = false;
138 _expiry_reported = false;
150 pos = SGGeod::fromDeg(0, 0);
153 speed_north_deg_sec = 0;
154 speed_east_deg_sec = 0;
174 // explicitly disable HOT for (most) AI models
176 aip.getSceneGraph()->setNodeMask(~SG_NODEMASK_TERRAIN_BIT);
179 FGAIBase::~FGAIBase() {
180 // Unregister that one at the scenery manager
184 SGPropertyNode* parent = props->getParent();
187 model_removed->setStringValue(props->getPath());
197 /** Cleanly remove the model
198 * and let the scenery database pager do the clean-up work.
201 FGAIBase::removeModel()
206 FGScenery* pSceneryManager = globals->get_scenery();
209 osg::ref_ptr<osg::Object> temp = _model.get();
210 pSceneryManager->get_scene_graph()->removeChild(aip.getSceneGraph());
211 // withdraw from SGModelPlacement and drop own reference (unref)
214 // pass it on to the pager, to be be deleted in the pager thread
215 pSceneryManager->getPager()->queueDeleteRequest(temp);
219 SG_LOG(SG_AI, SG_ALERT, "AIBase: Could not unload model. Missing scenery manager!");
223 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
228 setPath(scFileNode->getStringValue("model",
229 fgGetString("/sim/multiplay/default-model", default_model)));
231 setHeading(scFileNode->getDoubleValue("heading", 0.0));
232 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
233 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
234 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
235 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
236 setBank(scFileNode->getDoubleValue("roll", 0.0));
238 SGPropertyNode* submodels = scFileNode->getChild("submodels");
241 setServiceable(submodels->getBoolValue("serviceable", false));
242 setSMPath(submodels->getStringValue("path", ""));
247 void FGAIBase::update(double dt) {
249 if (_otype == otStatic)
252 if (_otype == otBallistic)
255 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
256 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
260 // update model's audio sample values
261 _fx->set_position_geod( pos );
263 SGQuatd orient = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
264 _fx->set_orientation( orient );
267 velocity = SGVec3d( speed_north_deg_sec, speed_east_deg_sec,
269 _fx->set_velocity( velocity );
271 else if ((_modeldata)&&(_modeldata->needInitilization()))
273 // process deferred nasal initialization,
274 // which must be done in main thread
277 // sound initialization
278 if (fgGetBool("/sim/sound/aimodels/enabled",false))
280 const string& fxpath = _modeldata->get_sound_path();
283 props->setStringValue("sim/sound/path", fxpath.c_str());
285 // initialize the sound configuration
286 std::stringstream name;
289 _fx = new FGFX(name.str(), props);
296 /** update LOD properties of the model */
297 void FGAIBase::updateLOD()
299 double maxRangeDetail = fgGetDouble("/sim/rendering/static-lod/ai-detailed", 10000.0);
300 double maxRangeBare = fgGetDouble("/sim/rendering/static-lod/ai-bare", 20000.0);
303 if( maxRangeDetail == 0.0 )
306 _model->setRange(0, 0.0, FLT_MAX);
307 _model->setRange(1, FLT_MAX, FLT_MAX);
311 _model->setRange(0, 0.0, maxRangeDetail);
312 _model->setRange(1, maxRangeDetail,maxRangeBare);
317 void FGAIBase::Transform() {
320 aip.setVisible(true);
321 aip.setPosition(pos);
324 aip.setOrientation(0.0, pitch, hdg);
326 aip.setOrientation(roll, pitch, hdg);
330 aip.setVisible(false);
336 bool FGAIBase::init(bool search_in_AI_path)
340 SG_LOG(SG_AI, SG_ALERT, "AIBase: Cannot initialize a model multiple times! " << model_path);
345 if(search_in_AI_path)
347 // setup a modified Options structure, with only the $fg-root/AI defined;
348 // we'll check that first, then give the normal search logic a chance.
349 // this ensures that models in AI/ are preferred to normal models, where
351 osg::ref_ptr<osgDB::ReaderWriter::Options>
352 opt(osg::clone(osgDB::Registry::instance()->getOptions(), osg::CopyOp::SHALLOW_COPY));
354 osgDB::FilePathList& paths(opt->getDatabasePathList());
356 BOOST_FOREACH(SGPath p, globals->get_data_paths("AI")) {
357 paths.push_back(p.str());
359 f = osgDB::findDataFile(model_path, opt.get());
363 f = simgear::SGModelLib::findDataFile(model_path);
367 f = fgGetString("/sim/multiplay/default-model", default_model);
371 _modeldata = new FGAIModelData(props);
372 osg::Node * mdl = SGModelLib::loadDeferredModel(f, props, _modeldata);
374 _model = new osg::LOD;
375 _model->setName("AI-model range animation node");
377 _model->addChild( mdl, 0, FLT_MAX );
378 _model->setCenterMode(osg::LOD::USE_BOUNDING_SPHERE_CENTER);
379 _model->setRangeMode(osg::LOD::DISTANCE_FROM_EYE_POINT);
380 // We really need low-resolution versions of AI/MP aircraft.
381 // Or at least dummy "stubs" with some default silhouette.
382 // _model->addChild( SGModelLib::loadPagedModel(fgGetString("/sim/multiplay/default-model", default_model),
383 // props, new FGNasalModelData(props)), FLT_MAX, FLT_MAX);
387 if (_model.valid() && _initialized == false) {
388 aip.init( _model.get() );
389 aip.setVisible(true);
391 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
394 SG_LOG(SG_AI, SG_DEBUG, "AIBase: Loaded model " << model_path);
396 } else if (!model_path.empty()) {
397 SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path);
398 // not properly installed...
406 void FGAIBase::initModel(osg::Node *node)
408 if (_model.valid()) {
411 props->setStringValue("submodels/path", _path.c_str());
412 SG_LOG(SG_AI, SG_DEBUG, "AIBase: submodels/path " << _path);
416 props->setStringValue("parent-name", _parent.c_str());
419 fgSetString("/ai/models/model-added", props->getPath().c_str());
420 } else if (!model_path.empty()) {
421 SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path);
428 bool FGAIBase::isa( object_type otype ) {
429 return otype == _otype;
433 void FGAIBase::bind() {
434 _tiedProperties.setRoot(props);
435 tie("id", SGRawValueMethods<FGAIBase,int>(*this,
437 tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
438 tie("velocities/vertical-speed-fps",
439 SGRawValueMethods<FGAIBase,double>(*this,
440 &FGAIBase::_getVS_fps,
441 &FGAIBase::_setVS_fps));
443 tie("position/altitude-ft",
444 SGRawValueMethods<FGAIBase,double>(*this,
445 &FGAIBase::_getAltitude,
446 &FGAIBase::_setAltitude));
447 tie("position/latitude-deg",
448 SGRawValueMethods<FGAIBase,double>(*this,
449 &FGAIBase::_getLatitude,
450 &FGAIBase::_setLatitude));
451 tie("position/longitude-deg",
452 SGRawValueMethods<FGAIBase,double>(*this,
453 &FGAIBase::_getLongitude,
454 &FGAIBase::_setLongitude));
456 tie("position/global-x",
457 SGRawValueMethods<FGAIBase,double>(*this,
458 &FGAIBase::_getCartPosX,
460 tie("position/global-y",
461 SGRawValueMethods<FGAIBase,double>(*this,
462 &FGAIBase::_getCartPosY,
464 tie("position/global-z",
465 SGRawValueMethods<FGAIBase,double>(*this,
466 &FGAIBase::_getCartPosZ,
469 SGRawValueMethods<FGAIBase,const char*>(*this,
470 &FGAIBase::_getCallsign,
473 tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
474 tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
475 tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
477 tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
478 tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
479 tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
480 tie("radar/range-nm", SGRawValuePointer<double>(&range));
481 tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
482 tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
483 tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
484 tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
485 tie("radar/rotation", SGRawValuePointer<double>(&rotation));
486 tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
487 tie("subID", SGRawValuePointer<int>(&_subID));
488 tie("controls/lighting/nav-lights", SGRawValueFunctions<bool>(_isNight));
490 props->setBoolValue("controls/lighting/beacon", true);
491 props->setBoolValue("controls/lighting/strobe", true);
492 props->setBoolValue("controls/glide-path", true);
494 props->setStringValue("controls/flight/lateral-mode", "roll");
495 props->setDoubleValue("controls/flight/target-hdg", hdg);
496 props->setDoubleValue("controls/flight/target-roll", roll);
498 props->setStringValue("controls/flight/longitude-mode", "alt");
499 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
500 props->setDoubleValue("controls/flight/target-pitch", pitch);
502 props->setDoubleValue("controls/flight/target-spd", speed);
504 props->setBoolValue("sim/sound/avionics/enabled", false);
505 props->setDoubleValue("sim/sound/avionics/volume", 0.0);
506 props->setBoolValue("sim/sound/avionics/external-view", false);
507 props->setBoolValue("sim/current-view/internal", false);
510 void FGAIBase::unbind() {
511 _tiedProperties.Untie();
513 props->setBoolValue("/sim/controls/radar", true);
518 void FGAIBase::removeSoundFx() {
519 // drop reference to sound effects now
522 // must remove explicitly - since the sound manager also keeps a reference
524 // now drop last reference - kill the object
529 double FGAIBase::UpdateRadar(FGAIManager* manager)
531 bool control = fgGetBool("/sim/controls/radar", true);
533 if(!control) return 0;
535 double radar_range_m = fgGetDouble("/instrumentation/radar/range");
536 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
537 radar_range_m *= SG_NM_TO_METER * 1.1; // + 10%
538 radar_range_m *= radar_range_m; // squared
540 double d2 = distSqr(SGVec3d::fromGeod(pos), globals->get_aircraft_position_cart());
541 double range_ft = sqrt(d2) * SG_METER_TO_FEET;
543 if (!force_on && (d2 > radar_range_m)) {
544 return range_ft * range_ft;
547 props->setBoolValue("radar/in-range", true);
549 // copy values from the AIManager
550 double user_heading = manager->get_user_heading();
551 double user_pitch = manager->get_user_pitch();
553 range = range_ft * SG_FEET_TO_METER * SG_METER_TO_NM;
555 // calculate bearing to target
556 bearing = SGGeodesy::courseDeg(globals->get_aircraft_position(), pos);
558 // calculate look left/right to target, without yaw correction
559 horiz_offset = bearing - user_heading;
560 SG_NORMALIZE_RANGE(horiz_offset, -180.0, 180.0);
562 // calculate elevation to target
563 ht_diff = altitude_ft - globals->get_aircraft_position().getElevationFt();
564 elevation = atan2( ht_diff, range_ft ) * SG_RADIANS_TO_DEGREES;
566 // calculate look up/down to target
567 vert_offset = elevation - user_pitch;
569 /* this calculation needs to be fixed, but it isn't important anyway
570 // calculate range rate
571 double recip_bearing = bearing + 180.0;
572 if (recip_bearing > 360.0) recip_bearing -= 360.0;
573 double my_horiz_offset = recip_bearing - hdg;
574 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
575 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
576 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
577 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
580 // now correct look left/right for yaw
581 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
583 // calculate values for radar display
584 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
585 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
587 rotation = hdg - user_heading;
588 SG_NORMALIZE_RANGE(rotation, 0.0, 360.0);
590 return range_ft * range_ft;
594 * Getters and Setters
597 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
598 // Transform that one to the horizontal local coordinate system.
599 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
601 // and postrotate the orientation of the AIModel wrt the horizontal
603 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
605 // The offset converted to the usual body fixed coordinate system
606 // rotated to the earth fixed coordinates axis
607 SGVec3d off = hlTrans.backTransform(_off);
609 // Add the position offset of the AIModel to gain the earth centered position
610 SGVec3d cartPos = SGVec3d::fromGeod(pos);
612 return cartPos + off;
615 SGVec3d FGAIBase::getCartPos() const {
616 SGVec3d cartPos = SGVec3d::fromGeod(pos);
620 bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
621 const simgear::BVHMaterial** material) const {
622 return globals->get_scenery()->get_elevation_m(pos, elev, material,
626 double FGAIBase::_getCartPosX() const {
627 SGVec3d cartPos = getCartPos();
631 double FGAIBase::_getCartPosY() const {
632 SGVec3d cartPos = getCartPos();
636 double FGAIBase::_getCartPosZ() const {
637 SGVec3d cartPos = getCartPos();
641 void FGAIBase::_setLongitude( double longitude ) {
642 pos.setLongitudeDeg(longitude);
645 void FGAIBase::_setLatitude ( double latitude ) {
646 pos.setLatitudeDeg(latitude);
649 void FGAIBase::_setSubID( int s ) {
653 bool FGAIBase::setParentNode() {
656 SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name
657 << " parent not set ");
661 const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
663 for (int i = ai->nChildren() - 1; i >= -1; i--) {
664 SGPropertyNode_ptr model;
666 if (i < 0) { // last iteration: selected model
667 model = _selected_ac;
669 model = ai->getChild(i);
670 //const string& path = ai->getPath();
671 const string name = model->getStringValue("name");
673 if (!model->nChildren()){
676 if (name == _parent) {
677 _selected_ac = model; // save selected model for last iteration
687 if (_selected_ac != 0){
688 const string name = _selected_ac->getStringValue("name");
691 SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name
692 << " parent not found: dying ");
699 double FGAIBase::_getLongitude() const {
700 return pos.getLongitudeDeg();
703 double FGAIBase::_getLatitude() const {
704 return pos.getLatitudeDeg();
707 double FGAIBase::_getElevationFt() const {
708 return pos.getElevationFt();
711 double FGAIBase::_getRdot() const {
715 double FGAIBase::_getVS_fps() const {
719 double FGAIBase::_get_speed_east_fps() const {
720 return speed_east_deg_sec * ft_per_deg_lon;
723 double FGAIBase::_get_speed_north_fps() const {
724 return speed_north_deg_sec * ft_per_deg_lat;
727 void FGAIBase::_setVS_fps( double _vs ) {
731 double FGAIBase::_getAltitude() const {
735 double FGAIBase::_getAltitudeAGL(SGGeod inpos, double start){
736 getGroundElevationM(SGGeod::fromGeodM(inpos, start),
738 return inpos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
741 bool FGAIBase::_getServiceable() const {
745 SGPropertyNode* FGAIBase::_getProps() const {
749 void FGAIBase::_setAltitude( double _alt ) {
753 bool FGAIBase::_isNight() {
754 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
757 bool FGAIBase::_getCollisionData() {
758 return _collision_reported;
761 bool FGAIBase::_getExpiryData() {
762 return _expiry_reported;
765 bool FGAIBase::_getImpactData() {
766 return _impact_reported;
769 double FGAIBase::_getImpactLat() const {
773 double FGAIBase::_getImpactLon() const {
777 double FGAIBase::_getImpactElevFt() const {
778 return _impact_elev * SG_METER_TO_FEET;
781 double FGAIBase::_getImpactPitch() const {
782 return _impact_pitch;
785 double FGAIBase::_getImpactRoll() const {
789 double FGAIBase::_getImpactHdg() const {
793 double FGAIBase::_getImpactSpeed() const {
794 return _impact_speed;
797 int FGAIBase::getID() const {
801 int FGAIBase::_getSubID() const {
805 double FGAIBase::_getSpeed() const {
809 double FGAIBase::_getRoll() const {
813 double FGAIBase::_getPitch() const {
817 double FGAIBase::_getHeading() const {
821 double FGAIBase::_getXOffset() const {
825 double FGAIBase::_getYOffset() const {
829 double FGAIBase::_getZOffset() const {
833 const char* FGAIBase::_getPath() const {
834 return model_path.c_str();
837 const char* FGAIBase::_getSMPath() const {
838 return _path.c_str();
841 const char* FGAIBase::_getName() const {
842 return _name.c_str();
845 const char* FGAIBase::_getCallsign() const {
846 return _callsign.c_str();
849 const char* FGAIBase::_getSubmodel() const {
850 return _submodel.c_str();
853 void FGAIBase::CalculateMach() {
854 // Calculate rho at altitude, using standard atmosphere
855 // For the temperature T and the pressure p,
856 double altitude = altitude_ft;
858 if (altitude < 36152) { // curve fits for the troposphere
859 T = 59 - 0.00356 * altitude;
860 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
861 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
863 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
864 } else { // upper stratosphere
865 T = -205.05 + (0.00164 * altitude);
866 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
869 rho = p / (1718 * (T + 459.7));
871 // calculate the speed of sound at altitude
872 // a = sqrt ( g * R * (T + 459.7))
874 // a = speed of sound [ft/s]
875 // g = specific heat ratio, which is usually equal to 1.4
876 // R = specific gas constant, which equals 1716 ft-lb/slug/R
877 a = sqrt ( 1.4 * 1716 * (T + 459.7));
879 // calculate Mach number
882 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
885 int FGAIBase::_newAIModelID() {
889 id++; // id = 0 is not allowed.