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) ),
66 _hasInteriorPath(false),
67 _interiorLoaded(false)
76 virtual FGAIModelData* clone() const { return new FGAIModelData(); }
78 /** osg callback, thread-safe */
79 void modelLoaded(const std::string& path, SGPropertyNode *prop, osg::Node *n)
81 // WARNING: Called in a separate OSG thread! Only use thread-safe stuff here...
85 if(prop->hasChild("interior-path")){
86 _interiorPath = prop->getStringValue("interior-path");
87 _hasInteriorPath = true;
90 _fxpath = prop->getStringValue("sound/path");
91 _nasal->modelLoaded(path, prop, n);
97 /** init hook to be called after model is loaded.
98 * Not thread-safe. Call from main thread only. */
99 void init(void) { _initialized = true; }
101 bool needInitilization(void) { return _ready && !_initialized;}
102 bool isInitialized(void) { return _initialized;}
103 inline std::string& get_sound_path() { return _fxpath;}
105 void setInteriorLoaded(const bool state) { _interiorLoaded = state;}
106 bool getInteriorLoaded(void) { return _interiorLoaded;}
107 bool hasInteriorPath(void) { return _hasInteriorPath;}
108 inline std::string& getInteriorPath() { return _interiorPath; }
111 std::auto_ptr<FGNasalModelDataProxy> _nasal;
116 std::string _interiorPath;
117 bool _hasInteriorPath;
118 bool _interiorLoaded;
121 FGAIBase::FGAIBase(object_type ot, bool enableHot) :
126 model_removed( fgGetNode("/ai/models/model-removed", true) ),
137 _refID( _newAIModelID() ),
143 tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
144 tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
145 bearing = elevation = range = rdot = 0.0;
146 x_shift = y_shift = rotation = 0.0;
152 _impact_reported = false;
153 _collision_reported = false;
154 _expiry_reported = false;
166 pos = SGGeod::fromDeg(0, 0);
169 speed_north_deg_sec = 0;
170 speed_east_deg_sec = 0;
190 // explicitly disable HOT for (most) AI models
192 aip.getSceneGraph()->setNodeMask(~SG_NODEMASK_TERRAIN_BIT);
195 FGAIBase::~FGAIBase() {
196 // Unregister that one at the scenery manager
200 SGPropertyNode* parent = props->getParent();
203 model_removed->setStringValue(props->getPath());
213 /** Cleanly remove the model
214 * and let the scenery database pager do the clean-up work.
217 FGAIBase::removeModel()
222 FGScenery* pSceneryManager = globals->get_scenery();
225 osg::ref_ptr<osg::Object> temp = _model.get();
226 pSceneryManager->get_models_branch()->removeChild(aip.getSceneGraph());
227 // withdraw from SGModelPlacement and drop own reference (unref)
232 // pass it on to the pager, to be be deleted in the pager thread
233 pSceneryManager->getPager()->queueDeleteRequest(temp);
237 SG_LOG(SG_AI, SG_ALERT, "AIBase: Could not unload model. Missing scenery manager!");
241 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
246 setPath(scFileNode->getStringValue("model",
247 fgGetString("/sim/multiplay/default-model", default_model)));
249 setHeading(scFileNode->getDoubleValue("heading", 0.0));
250 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
251 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
252 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
253 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
254 setBank(scFileNode->getDoubleValue("roll", 0.0));
256 SGPropertyNode* submodels = scFileNode->getChild("submodels");
259 setServiceable(submodels->getBoolValue("serviceable", false));
260 setSMPath(submodels->getStringValue("path", ""));
265 void FGAIBase::update(double dt) {
267 if (_otype == otStatic)
270 if (_otype == otBallistic)
273 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
274 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
278 // update model's audio sample values
279 _fx->set_position_geod( pos );
281 SGQuatd orient = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
282 _fx->set_orientation( orient );
285 velocity = SGVec3d( speed_north_deg_sec, speed_east_deg_sec,
287 _fx->set_velocity( velocity );
289 else if ((_modeldata)&&(_modeldata->needInitilization()))
291 // process deferred nasal initialization,
292 // which must be done in main thread
295 // sound initialization
296 if (fgGetBool("/sim/sound/aimodels/enabled",false))
298 const string& fxpath = _modeldata->get_sound_path();
301 props->setStringValue("sim/sound/path", fxpath.c_str());
303 // initialize the sound configuration
304 std::stringstream name;
307 _fx = new FGFX(name.str(), props);
316 void FGAIBase::updateInterior()
318 if(!_modeldata || !_modeldata->hasInteriorPath())
321 if(!_modeldata->getInteriorLoaded()){ // interior is not yet load
322 double d2 = dist(SGVec3d::fromGeod(pos), globals->get_aircraft_position_cart());
323 if(d2 <= _maxRangeInterior){ // if the AI is in-range we load the interior
324 _interior = SGModelLib::loadPagedModel(_modeldata->getInteriorPath(), props, _modeldata);
325 if(_interior.valid()){
326 _interior->setRange(0, 0.0, _maxRangeInterior);
327 aip.add(_interior.get());
328 _modeldata->setInteriorLoaded(true);
329 SG_LOG(SG_AI, SG_INFO, "AIBase: Loaded interior model " << _interior->getName());
335 /** update LOD properties of the model */
336 void FGAIBase::updateLOD()
338 double maxRangeDetail = fgGetDouble("/sim/rendering/static-lod/ai-detailed", 10000.0);
339 double maxRangeBare = fgGetDouble("/sim/rendering/static-lod/ai-bare", 20000.0);
340 _maxRangeInterior = fgGetDouble("/sim/rendering/static-lod/ai-interior", 50.0);
343 if( maxRangeDetail == 0.0 )
346 _model->setRange(0, 0.0, FLT_MAX);
347 _model->setRange(1, FLT_MAX, FLT_MAX);
351 _model->setRange(0, 0.0, maxRangeDetail);
352 _model->setRange(1, maxRangeDetail,maxRangeBare);
357 void FGAIBase::Transform() {
360 aip.setVisible(true);
361 aip.setPosition(pos);
364 aip.setOrientation(0.0, pitch, hdg);
366 aip.setOrientation(roll, pitch, hdg);
370 aip.setVisible(false);
376 bool FGAIBase::init(bool search_in_AI_path)
380 SG_LOG(SG_AI, SG_ALERT, "AIBase: Cannot initialize a model multiple times! " << model_path);
385 if(search_in_AI_path)
387 BOOST_FOREACH(SGPath p, globals->get_data_paths("AI")) {
388 p.append(model_path);
393 } // of AI data paths iteration
394 } // of search in AI path
397 f = simgear::SGModelLib::findDataFile(model_path);
401 f = fgGetString("/sim/multiplay/default-model", default_model);
405 props->addChild("type")->setStringValue("AI");
406 _modeldata = new FGAIModelData(props);
407 _model= SGModelLib::loadPagedModel(f, props, _modeldata);
409 _model->setName("AI-model range animation node");
411 // _model->setCenterMode(osg::LOD::USE_BOUNDING_SPHERE_CENTER);
412 // _model->setRangeMode(osg::LOD::DISTANCE_FROM_EYE_POINT);
414 // We really need low-resolution versions of AI/MP aircraft.
415 // Or at least dummy "stubs" with some default silhouette.
416 // _model->addChild( SGModelLib::loadPagedModel(fgGetString("/sim/multiplay/default-model", default_model),
417 // props, new FGNasalModelData(props)), FLT_MAX, FLT_MAX);
421 if (_model.valid() && _initialized == false) {
422 aip.init( _model.get() );
423 aip.setVisible(true);
425 globals->get_scenery()->get_models_branch()->addChild(aip.getSceneGraph());
428 SG_LOG(SG_AI, SG_DEBUG, "AIBase: Loaded model " << model_path);
430 } else if (!model_path.empty()) {
431 SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path);
432 // not properly installed...
440 void FGAIBase::initModel()
442 if (_model.valid()) {
445 props->setStringValue("submodels/path", _path.c_str());
446 SG_LOG(SG_AI, SG_DEBUG, "AIBase: submodels/path " << _path);
450 props->setStringValue("parent-name", _parent.c_str());
453 fgSetString("/ai/models/model-added", props->getPath().c_str());
454 } else if (!model_path.empty()) {
455 SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path);
462 bool FGAIBase::isa( object_type otype ) {
463 return otype == _otype;
467 void FGAIBase::bind() {
468 _tiedProperties.setRoot(props);
469 tie("id", SGRawValueMethods<FGAIBase,int>(*this,
471 tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
472 tie("velocities/vertical-speed-fps",
473 SGRawValueMethods<FGAIBase,double>(*this,
474 &FGAIBase::_getVS_fps,
475 &FGAIBase::_setVS_fps));
477 tie("position/altitude-ft",
478 SGRawValueMethods<FGAIBase,double>(*this,
479 &FGAIBase::_getAltitude,
480 &FGAIBase::_setAltitude));
481 tie("position/latitude-deg",
482 SGRawValueMethods<FGAIBase,double>(*this,
483 &FGAIBase::_getLatitude,
484 &FGAIBase::_setLatitude));
485 tie("position/longitude-deg",
486 SGRawValueMethods<FGAIBase,double>(*this,
487 &FGAIBase::_getLongitude,
488 &FGAIBase::_setLongitude));
490 tie("position/global-x",
491 SGRawValueMethods<FGAIBase,double>(*this,
492 &FGAIBase::_getCartPosX,
494 tie("position/global-y",
495 SGRawValueMethods<FGAIBase,double>(*this,
496 &FGAIBase::_getCartPosY,
498 tie("position/global-z",
499 SGRawValueMethods<FGAIBase,double>(*this,
500 &FGAIBase::_getCartPosZ,
503 SGRawValueMethods<FGAIBase,const char*>(*this,
504 &FGAIBase::_getCallsign,
507 tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
508 tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
509 tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
511 tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
512 tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
513 tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
514 tie("radar/range-nm", SGRawValuePointer<double>(&range));
515 tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
516 tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
517 tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
518 tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
519 tie("radar/rotation", SGRawValuePointer<double>(&rotation));
520 tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
521 tie("subID", SGRawValuePointer<int>(&_subID));
522 tie("controls/lighting/nav-lights", SGRawValueFunctions<bool>(_isNight));
524 props->setBoolValue("controls/lighting/beacon", true);
525 props->setBoolValue("controls/lighting/strobe", true);
526 props->setBoolValue("controls/glide-path", true);
528 props->setStringValue("controls/flight/lateral-mode", "roll");
529 props->setDoubleValue("controls/flight/target-hdg", hdg);
530 props->setDoubleValue("controls/flight/target-roll", roll);
532 props->setStringValue("controls/flight/longitude-mode", "alt");
533 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
534 props->setDoubleValue("controls/flight/target-pitch", pitch);
536 props->setDoubleValue("controls/flight/target-spd", speed);
538 props->setBoolValue("sim/sound/avionics/enabled", false);
539 props->setDoubleValue("sim/sound/avionics/volume", 0.0);
540 props->setBoolValue("sim/sound/avionics/external-view", false);
541 props->setBoolValue("sim/current-view/internal", false);
544 void FGAIBase::unbind() {
545 _tiedProperties.Untie();
547 props->setBoolValue("/sim/controls/radar", true);
552 void FGAIBase::removeSoundFx() {
553 // drop reference to sound effects now
556 // must remove explicitly - since the sound manager also keeps a reference
558 // now drop last reference - kill the object
563 double FGAIBase::UpdateRadar(FGAIManager* manager)
565 bool control = fgGetBool("/sim/controls/radar", true);
567 if(!control) return 0;
569 double radar_range_m = fgGetDouble("/instrumentation/radar/range");
570 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
571 radar_range_m *= SG_NM_TO_METER * 1.1; // + 10%
572 radar_range_m *= radar_range_m; // squared
574 double d2 = distSqr(SGVec3d::fromGeod(pos), globals->get_aircraft_position_cart());
575 double range_ft = sqrt(d2) * SG_METER_TO_FEET;
577 if (!force_on && (d2 > radar_range_m)) {
578 return range_ft * range_ft;
581 props->setBoolValue("radar/in-range", true);
583 // copy values from the AIManager
584 double user_heading = manager->get_user_heading();
585 double user_pitch = manager->get_user_pitch();
587 range = range_ft * SG_FEET_TO_METER * SG_METER_TO_NM;
589 // calculate bearing to target
590 bearing = SGGeodesy::courseDeg(globals->get_aircraft_position(), pos);
592 // calculate look left/right to target, without yaw correction
593 horiz_offset = bearing - user_heading;
594 SG_NORMALIZE_RANGE(horiz_offset, -180.0, 180.0);
596 // calculate elevation to target
597 ht_diff = altitude_ft - globals->get_aircraft_position().getElevationFt();
598 elevation = atan2( ht_diff, range_ft ) * SG_RADIANS_TO_DEGREES;
600 // calculate look up/down to target
601 vert_offset = elevation - user_pitch;
603 /* this calculation needs to be fixed, but it isn't important anyway
604 // calculate range rate
605 double recip_bearing = bearing + 180.0;
606 if (recip_bearing > 360.0) recip_bearing -= 360.0;
607 double my_horiz_offset = recip_bearing - hdg;
608 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
609 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
610 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
611 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
614 // now correct look left/right for yaw
615 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
617 // calculate values for radar display
618 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
619 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
621 rotation = hdg - user_heading;
622 SG_NORMALIZE_RANGE(rotation, 0.0, 360.0);
624 return range_ft * range_ft;
628 * Getters and Setters
631 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
632 // Transform that one to the horizontal local coordinate system.
633 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
635 // and postrotate the orientation of the AIModel wrt the horizontal
637 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
639 // The offset converted to the usual body fixed coordinate system
640 // rotated to the earth fixed coordinates axis
641 SGVec3d off = hlTrans.backTransform(_off);
643 // Add the position offset of the AIModel to gain the earth centered position
644 SGVec3d cartPos = SGVec3d::fromGeod(pos);
646 return cartPos + off;
649 SGVec3d FGAIBase::getCartPos() const {
650 SGVec3d cartPos = SGVec3d::fromGeod(pos);
654 bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
655 const simgear::BVHMaterial** material) const {
656 return globals->get_scenery()->get_elevation_m(pos, elev, material,
660 double FGAIBase::_getCartPosX() const {
661 SGVec3d cartPos = getCartPos();
665 double FGAIBase::_getCartPosY() const {
666 SGVec3d cartPos = getCartPos();
670 double FGAIBase::_getCartPosZ() const {
671 SGVec3d cartPos = getCartPos();
675 void FGAIBase::_setLongitude( double longitude ) {
676 pos.setLongitudeDeg(longitude);
679 void FGAIBase::_setLatitude ( double latitude ) {
680 pos.setLatitudeDeg(latitude);
683 void FGAIBase::_setSubID( int s ) {
687 bool FGAIBase::setParentNode() {
690 SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name
691 << " parent not set ");
695 const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
697 for (int i = ai->nChildren() - 1; i >= -1; i--) {
698 SGPropertyNode_ptr model;
700 if (i < 0) { // last iteration: selected model
701 model = _selected_ac;
703 model = ai->getChild(i);
704 //const string& path = ai->getPath();
705 const string name = model->getStringValue("name");
707 if (!model->nChildren()){
710 if (name == _parent) {
711 _selected_ac = model; // save selected model for last iteration
721 if (_selected_ac != 0){
722 const string name = _selected_ac->getStringValue("name");
725 SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name
726 << " parent not found: dying ");
733 double FGAIBase::_getLongitude() const {
734 return pos.getLongitudeDeg();
737 double FGAIBase::_getLatitude() const {
738 return pos.getLatitudeDeg();
741 double FGAIBase::_getElevationFt() const {
742 return pos.getElevationFt();
745 double FGAIBase::_getRdot() const {
749 double FGAIBase::_getVS_fps() const {
753 double FGAIBase::_get_speed_east_fps() const {
754 return speed_east_deg_sec * ft_per_deg_lon;
757 double FGAIBase::_get_speed_north_fps() const {
758 return speed_north_deg_sec * ft_per_deg_lat;
761 void FGAIBase::_setVS_fps( double _vs ) {
765 double FGAIBase::_getAltitude() const {
769 double FGAIBase::_getAltitudeAGL(SGGeod inpos, double start){
770 getGroundElevationM(SGGeod::fromGeodM(inpos, start),
772 return inpos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
775 bool FGAIBase::_getServiceable() const {
779 SGPropertyNode* FGAIBase::_getProps() const {
783 void FGAIBase::_setAltitude( double _alt ) {
787 bool FGAIBase::_isNight() {
788 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
791 bool FGAIBase::_getCollisionData() {
792 return _collision_reported;
795 bool FGAIBase::_getExpiryData() {
796 return _expiry_reported;
799 bool FGAIBase::_getImpactData() {
800 return _impact_reported;
803 double FGAIBase::_getImpactLat() const {
807 double FGAIBase::_getImpactLon() const {
811 double FGAIBase::_getImpactElevFt() const {
812 return _impact_elev * SG_METER_TO_FEET;
815 double FGAIBase::_getImpactPitch() const {
816 return _impact_pitch;
819 double FGAIBase::_getImpactRoll() const {
823 double FGAIBase::_getImpactHdg() const {
827 double FGAIBase::_getImpactSpeed() const {
828 return _impact_speed;
831 int FGAIBase::getID() const {
835 int FGAIBase::_getSubID() const {
839 double FGAIBase::_getSpeed() const {
843 double FGAIBase::_getRoll() const {
847 double FGAIBase::_getPitch() const {
851 double FGAIBase::_getHeading() const {
855 double FGAIBase::_getXOffset() const {
859 double FGAIBase::_getYOffset() const {
863 double FGAIBase::_getZOffset() const {
867 const char* FGAIBase::_getPath() const {
868 return model_path.c_str();
871 const char* FGAIBase::_getSMPath() const {
872 return _path.c_str();
875 const char* FGAIBase::_getName() const {
876 return _name.c_str();
879 const char* FGAIBase::_getCallsign() const {
880 return _callsign.c_str();
883 const char* FGAIBase::_getSubmodel() const {
884 return _submodel.c_str();
887 void FGAIBase::CalculateMach() {
888 // Calculate rho at altitude, using standard atmosphere
889 // For the temperature T and the pressure p,
890 double altitude = altitude_ft;
892 if (altitude < 36152) { // curve fits for the troposphere
893 T = 59 - 0.00356 * altitude;
894 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
895 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
897 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
898 } else { // upper stratosphere
899 T = -205.05 + (0.00164 * altitude);
900 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
903 rho = p / (1718 * (T + 459.7));
905 // calculate the speed of sound at altitude
906 // a = sqrt ( g * R * (T + 459.7))
908 // a = speed of sound [ft/s]
909 // g = specific heat ratio, which is usually equal to 1.4
910 // R = specific gas constant, which equals 1716 ft-lb/slug/R
911 a = sqrt ( 1.4 * 1716 * (T + 459.7));
913 // calculate Mach number
916 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
919 int FGAIBase::_newAIModelID() {
923 id++; // id = 0 is not allowed.