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) :
57 model_removed( fgGetNode("/ai/models/model-removed", true) ),
69 _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",
109 fgGetString("/sim/multiplay/default-model", default_model)));
111 setHeading(scFileNode->getDoubleValue("heading", 0.0));
112 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
113 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
114 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
115 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
116 setBank(scFileNode->getDoubleValue("roll", 0.0));
118 SGPropertyNode* submodels = scFileNode->getChild("submodels");
121 setServiceable(submodels->getBoolValue("serviceable", false));
122 setSMPath(submodels->getStringValue("path", ""));
127 void FGAIBase::update(double dt) {
129 if (_otype == otStatic)
132 if (_otype == otBallistic)
135 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
136 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
139 void FGAIBase::Transform() {
142 aip.setVisible(true);
143 aip.setPosition(pos);
146 aip.setOrientation(0.0, pitch, hdg);
148 aip.setOrientation(roll, pitch, hdg);
152 aip.setVisible(false);
158 bool FGAIBase::init(bool search_in_AI_path) {
159 osg::ref_ptr<osgDB::ReaderWriter::Options> opt=
160 new osgDB::ReaderWriter::Options(*osgDB::Registry::instance()->getOptions());
162 if(search_in_AI_path)
164 SGPath ai_path(globals->get_fg_root());
165 ai_path.append("AI");
166 opt->getDatabasePathList().push_front(ai_path.str());
169 string f = osgDB::findDataFile(model_path, opt.get());
172 f = fgGetString("/sim/multiplay/default-model", default_model);
174 model = load3DModel(f, props);
176 if (model.valid() && _initialized == false) {
177 aip.init( model.get() );
178 aip.setVisible(true);
180 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
183 } else if (!model_path.empty()) {
184 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
191 void FGAIBase::initModel(osg::Node *node)
194 // Disable altitude computations for general AI models.
195 model->setNodeMask(model->getNodeMask() & ~SG_NODEMASK_TERRAIN_BIT);
197 fgSetString("/ai/models/model-added", props->getPath());
199 } else if (!model_path.empty()) {
200 SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
203 props->setStringValue("submodels/path", _path.c_str());
208 osg::Node* FGAIBase::load3DModel(const string &path, SGPropertyNode *prop_root)
210 model = SGModelLib::loadPagedModel(path, prop_root, new FGNasalModelData(prop_root));
211 initModel(model.get());
215 bool FGAIBase::isa( object_type otype ) {
216 return otype == _otype;
220 void FGAIBase::bind() {
221 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
223 props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
224 props->tie("velocities/vertical-speed-fps",
225 SGRawValueMethods<FGAIBase,double>(*this,
226 &FGAIBase::_getVS_fps,
227 &FGAIBase::_setVS_fps));
229 props->tie("position/altitude-ft",
230 SGRawValueMethods<FGAIBase,double>(*this,
231 &FGAIBase::_getAltitude,
232 &FGAIBase::_setAltitude));
233 props->tie("position/latitude-deg",
234 SGRawValueMethods<FGAIBase,double>(*this,
235 &FGAIBase::_getLatitude,
236 &FGAIBase::_setLatitude));
237 props->tie("position/longitude-deg",
238 SGRawValueMethods<FGAIBase,double>(*this,
239 &FGAIBase::_getLongitude,
240 &FGAIBase::_setLongitude));
242 props->tie("position/global-x",
243 SGRawValueMethods<FGAIBase,double>(*this,
244 &FGAIBase::_getCartPosX,
246 props->tie("position/global-y",
247 SGRawValueMethods<FGAIBase,double>(*this,
248 &FGAIBase::_getCartPosY,
250 props->tie("position/global-z",
251 SGRawValueMethods<FGAIBase,double>(*this,
252 &FGAIBase::_getCartPosZ,
254 props->tie("callsign",
255 SGRawValueMethods<FGAIBase,const char*>(*this,
256 &FGAIBase::_getCallsign,
259 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
260 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
261 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
263 props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
264 props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
265 props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
266 props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
267 props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
268 props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
269 props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
270 props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
271 props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
272 props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
273 props->tie("subID", SGRawValuePointer<int>(&_subID));
274 props->tie("controls/lighting/nav-lights",
275 SGRawValueFunctions<bool>(_isNight));
276 props->setBoolValue("controls/lighting/beacon", true);
277 props->setBoolValue("controls/lighting/strobe", true);
278 props->setBoolValue("controls/glide-path", true);
280 props->setStringValue("controls/flight/lateral-mode", "roll");
281 props->setDoubleValue("controls/flight/target-hdg", hdg);
282 props->setDoubleValue("controls/flight/target-roll", roll);
284 props->setStringValue("controls/flight/longitude-mode", "alt");
285 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
286 props->setDoubleValue("controls/flight/target-pitch", pitch);
288 props->setDoubleValue("controls/flight/target-spd", speed);
292 void FGAIBase::unbind() {
294 props->untie("velocities/true-airspeed-kt");
295 props->untie("velocities/vertical-speed-fps");
297 props->untie("position/altitude-ft");
298 props->untie("position/latitude-deg");
299 props->untie("position/longitude-deg");
300 props->untie("position/global-x");
301 props->untie("position/global-y");
302 props->untie("position/global-z");
303 props->untie("callsign");
305 props->untie("orientation/pitch-deg");
306 props->untie("orientation/roll-deg");
307 props->untie("orientation/true-heading-deg");
309 props->untie("radar/in-range");
310 props->untie("radar/bearing-deg");
311 props->untie("radar/elevation-deg");
312 props->untie("radar/range-nm");
313 props->untie("radar/h-offset");
314 props->untie("radar/v-offset");
315 props->untie("radar/x-shift");
316 props->untie("radar/y-shift");
317 props->untie("radar/rotation");
318 props->untie("radar/ht-diff-ft");
320 props->untie("controls/lighting/nav-lights");
323 double FGAIBase::UpdateRadar(FGAIManager* manager) {
324 double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
325 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
326 radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
327 radar_range_ft2 *= radar_range_ft2;
329 double user_latitude = manager->get_user_latitude();
330 double user_longitude = manager->get_user_longitude();
331 double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
332 double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
333 double range_ft2 = lat_range*lat_range + lon_range*lon_range;
336 // Test whether the target is within radar range.
338 in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
340 if ( in_range || force_on ) {
341 props->setBoolValue("radar/in-range", true);
343 // copy values from the AIManager
344 double user_altitude = manager->get_user_altitude();
345 double user_heading = manager->get_user_heading();
346 double user_pitch = manager->get_user_pitch();
347 //double user_yaw = manager->get_user_yaw();
348 //double user_speed = manager->get_user_speed();
350 // calculate range to target in feet and nautical miles
351 double range_ft = sqrt( range_ft2 );
352 range = range_ft / 6076.11549;
354 // calculate bearing to target
355 if (pos.getLatitudeDeg() >= user_latitude) {
356 bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
357 if (pos.getLongitudeDeg() >= user_longitude) {
358 bearing = 90.0 - bearing;
360 bearing = 270.0 + bearing;
363 bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
364 if (pos.getLongitudeDeg() >= user_longitude) {
365 bearing = 180.0 - bearing;
367 bearing = 180.0 + bearing;
371 // This is an alternate way to compute bearing and distance which
372 // agrees with the original scheme within about 0.1 degrees.
374 // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
375 // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
376 // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
377 // double gc_bearing, gc_range;
378 // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
379 // gc_range *= SG_METER_TO_NM;
380 // gc_bearing *= SGD_RADIANS_TO_DEGREES;
381 // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
382 // bearing, range, gc_bearing, gc_range);
384 // calculate look left/right to target, without yaw correction
385 horiz_offset = bearing - user_heading;
386 if (horiz_offset > 180.0) horiz_offset -= 360.0;
387 if (horiz_offset < -180.0) horiz_offset += 360.0;
389 // calculate elevation to target
390 elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
392 // calculate look up/down to target
393 vert_offset = elevation - user_pitch;
395 /* this calculation needs to be fixed, but it isn't important anyway
396 // calculate range rate
397 double recip_bearing = bearing + 180.0;
398 if (recip_bearing > 360.0) recip_bearing -= 360.0;
399 double my_horiz_offset = recip_bearing - hdg;
400 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
401 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
402 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
403 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
406 // now correct look left/right for yaw
407 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
409 // calculate values for radar display
410 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
411 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
412 rotation = hdg - user_heading;
413 if (rotation < 0.0) rotation += 360.0;
414 ht_diff = altitude_ft - user_altitude;
422 * Getters and Setters
425 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
426 // Transform that one to the horizontal local coordinate system.
427 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
429 // and postrotate the orientation of the AIModel wrt the horizontal
431 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
433 // The offset converted to the usual body fixed coordinate system
434 // rotated to the earth fiexed coordinates axis
435 SGVec3d off = hlTrans.backTransform(_off);
437 // Add the position offset of the AIModel to gain the earth centered position
438 SGVec3d cartPos = SGVec3d::fromGeod(pos);
440 return cartPos + off;
443 SGVec3d FGAIBase::getCartPos() const {
444 SGVec3d cartPos = SGVec3d::fromGeod(pos);
448 double FGAIBase::_getCartPosX() const {
449 SGVec3d cartPos = getCartPos();
453 double FGAIBase::_getCartPosY() const {
454 SGVec3d cartPos = getCartPos();
458 double FGAIBase::_getCartPosZ() const {
459 SGVec3d cartPos = getCartPos();
463 void FGAIBase::_setLongitude( double longitude ) {
464 pos.setLongitudeDeg(longitude);
467 void FGAIBase::_setLatitude ( double latitude ) {
468 pos.setLatitudeDeg(latitude);
471 void FGAIBase::_setUserPos(){
472 userpos.setLatitudeDeg(manager->get_user_latitude());
473 userpos.setLongitudeDeg(manager->get_user_longitude());
474 userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER);
477 void FGAIBase::_setSubID( int s ) {
481 double FGAIBase::_getLongitude() const {
482 return pos.getLongitudeDeg();
485 double FGAIBase::_getLatitude() const {
486 return pos.getLatitudeDeg();
489 double FGAIBase::_getElevationFt () const {
490 return pos.getElevationFt();
493 double FGAIBase::_getRdot() const {
497 double FGAIBase::_getVS_fps() const {
501 double FGAIBase::_get_speed_east_fps() const {
502 return speed_east_deg_sec * ft_per_deg_lon;
505 double FGAIBase::_get_speed_north_fps() const {
506 return speed_north_deg_sec * ft_per_deg_lat;
509 void FGAIBase::_setVS_fps( double _vs ) {
513 double FGAIBase::_getAltitude() const {
517 bool FGAIBase::_getServiceable() const {
521 SGPropertyNode* FGAIBase::_getProps() const {
525 void FGAIBase::_setAltitude( double _alt ) {
529 bool FGAIBase::_isNight() {
530 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
533 bool FGAIBase::_getCollisionData() {
534 return _collision_reported;
537 bool FGAIBase::_getImpactData() {
538 return _impact_reported;
541 double FGAIBase::_getImpactLat() const {
545 double FGAIBase::_getImpactLon() const {
549 double FGAIBase::_getImpactElevFt() const {
550 return _impact_elev * SG_METER_TO_FEET;
553 double FGAIBase::_getImpactPitch() const {
554 return _impact_pitch;
557 double FGAIBase::_getImpactRoll() const {
561 double FGAIBase::_getImpactHdg() const {
565 double FGAIBase::_getImpactSpeed() const {
566 return _impact_speed;
569 int FGAIBase::getID() const {
573 int FGAIBase::_getSubID() const {
577 double FGAIBase::_getSpeed() const {
581 double FGAIBase::_getRoll() const {
585 double FGAIBase::_getPitch() const {
589 double FGAIBase::_getHeading() const {
593 double FGAIBase::_getXOffset() const {
597 double FGAIBase::_getYOffset() const {
601 double FGAIBase::_getZOffset() const {
605 const char* FGAIBase::_getPath() const {
606 return model_path.c_str();
609 const char* FGAIBase::_getSMPath() const {
610 return _path.c_str();
613 const char* FGAIBase::_getName() const {
614 return _name.c_str();
617 const char* FGAIBase::_getCallsign() const {
618 return _callsign.c_str();
621 const char* FGAIBase::_getSubmodel() const {
622 return _submodel.c_str();
625 void FGAIBase::CalculateMach() {
626 // Calculate rho at altitude, using standard atmosphere
627 // For the temperature T and the pressure p,
628 double altitude = altitude_ft;
630 if (altitude < 36152) { // curve fits for the troposphere
631 T = 59 - 0.00356 * altitude;
632 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
633 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
635 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
636 } else { // upper stratosphere
637 T = -205.05 + (0.00164 * altitude);
638 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
641 rho = p / (1718 * (T + 459.7));
643 // calculate the speed of sound at altitude
644 // a = sqrt ( g * R * (T + 459.7))
646 // a = speed of sound [ft/s]
647 // g = specific heat ratio, which is usually equal to 1.4
648 // R = specific gas constant, which equals 1716 ft-lb/slug/R
649 a = sqrt ( 1.4 * 1716 * (T + 459.7));
651 // calculate Mach number
654 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
657 int FGAIBase::_newAIModelID() {
661 id++; // id = 0 is not allowed.