src/AIModel/AIBase.cxx

   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
   5 //
   6 // This program is free software; you can redistribute it and/or
   7 // modify it under the terms of the GNU General Public License as
   8 // published by the Free Software Foundation; either version 2 of the
   9 // License, or (at your option) any later version.
  10 //
  11 // This program is distributed in the hope that it will be useful, but
  12 // WITHOUT ANY WARRANTY; without even the implied warranty of
  13 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  14 // General Public License for more details.
  15 //
  16 // You should have received a copy of the GNU General Public License
  17 // along with this program; if not, write to the Free Software
  18 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  19
  20
  21 #ifdef HAVE_CONFIG_H
  22 #  include <config.h>
  23 #endif
  24
  25 #include <simgear/compiler.h>
  26
  27 #include STL_STRING
  28
  29 #include <plib/sg.h>
  30 #include <plib/ssg.h>
  31
  32 #include <simgear/math/point3d.hxx>
  33 #include <simgear/misc/sg_path.hxx>
  34 #include <simgear/scene/model/location.hxx>
  35 #include <simgear/scene/model/model.hxx>
  36 #include <simgear/debug/logstream.hxx>
  37 #include <simgear/props/props.hxx>
  38
  39 #include <Main/globals.hxx>
  40 #include <Scenery/scenery.hxx>
  41
  42
  43 #include "AIBase.hxx"
  44 #include "AIManager.hxx"
  45
  46 FGAIBase::FGAIBase()
  47  :  fp( NULL ),
  48     model( NULL ),
  49     props( NULL ),
  50     manager( NULL )
  51 {
  52     _type_str = "model";
  53     tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
  54     bearing = elevation = range = rdot = 0.0;
  55     x_shift = y_shift = rotation = 0.0;
  56     in_range = false;
  57     invisible = true;
  58     no_roll = true;
  59     life = 900;
  60     model_path = "";
  61     _otype = otNull;
  62     index = 0;
  63     delete_me = false;
  64 }
  65
  66 FGAIBase::~FGAIBase() {
  67     globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
  68     // unbind();
  69     SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
  70     root->removeChild(_type_str.c_str(), index);
  71     if (fp) delete fp;
  72     fp = NULL;
  73 }
  74
  75 void FGAIBase::update(double dt) {
  76     ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES);
  77     ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES);
  78 }
  79
  80
  81 void FGAIBase::Transform() {
  82     if (!invisible) {
  83       aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
  84       if (no_roll) {
  85          aip.setOrientation(0.0, pitch, hdg);
  86       } else {
  87          aip.setOrientation(roll, pitch, hdg);
  88       }
  89       aip.update( globals->get_scenery()->get_center() );
  90     }
  91 }
  92
  93
  94 bool FGAIBase::init() {
  95
  96    SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
  97
  98    index = manager->getNum(_otype) - 1;
  99    props = root->getNode(_type_str.c_str(), index, true);
 100
 101    if (model_path != "") {
 102       model = sgLoad3DModel( globals->get_fg_root(),
 103                              model_path.c_str(),
 104                              props,
 105                              globals->get_sim_time_sec() );
 106    }
 107    if (model) {
 108      aip.init( model );
 109      aip.setVisible(true);
 110      invisible = false;
 111      globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
 112    } else {
 113      if (model_path != "") {
 114        SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model.");
 115      }
 116    }
 117
 118    setDie(false);
 119
 120    return true;
 121 }
 122
 123 bool FGAIBase::isa( object_type otype ) {
 124  if ( otype == _otype ) { return true; }
 125  else { return false; }
 126 }
 127
 128
 129 void FGAIBase::bind() {
 130    props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
 131                                          &FGAIBase::_getID));
 132    props->tie("velocities/true-airspeed-kt",  SGRawValuePointer<double>(&speed));
 133    props->tie("velocities/vertical-speed-fps",
 134                SGRawValueMethods<FGAIBase,double>(*this,
 135                                          &FGAIBase::_getVS_fps,
 136                                          &FGAIBase::_setVS_fps));
 137
 138    props->tie("position/altitude-ft",
 139                SGRawValueMethods<FGAIBase,double>(*this,
 140                                          &FGAIBase::_getAltitude,
 141                                          &FGAIBase::_setAltitude));
 142    props->tie("position/latitude-deg",
 143                SGRawValueMethods<FGAIBase,double>(*this,
 144                                          &FGAIBase::_getLatitude,
 145                                          &FGAIBase::_setLatitude));
 146    props->tie("position/longitude-deg",
 147                SGRawValueMethods<FGAIBase,double>(*this,
 148                                          &FGAIBase::_getLongitude,
 149                                          &FGAIBase::_setLongitude));
 150
 151    props->tie("orientation/pitch-deg",   SGRawValuePointer<double>(&pitch));
 152    props->tie("orientation/roll-deg",    SGRawValuePointer<double>(&roll));
 153    props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
 154
 155    props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
 156    props->tie("radar/bearing-deg",   SGRawValuePointer<double>(&bearing));
 157    props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
 158    props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
 159    props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
 160    props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
 161    props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
 162    props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
 163    props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
 164
 165    props->tie("controls/lighting/nav-lights",
 166                SGRawValueFunctions<bool>(_isNight));
 167    props->setBoolValue("controls/lighting/beacon", true);
 168    props->setBoolValue("controls/lighting/strobe", true);
 169 }
 170
 171 void FGAIBase::unbind() {
 172     props->untie("id");
 173     props->untie("velocities/true-airspeed-kt");
 174     props->untie("velocities/vertical-speed-fps");
 175
 176     props->untie("position/altitude-ft");
 177     props->untie("position/latitude-deg");
 178     props->untie("position/longitude-deg");
 179
 180     props->untie("orientation/pitch-deg");
 181     props->untie("orientation/roll-deg");
 182     props->untie("orientation/true-heading-deg");
 183
 184     props->untie("radar/in-range");
 185     props->untie("radar/bearing-deg");
 186     props->untie("radar/elevation-deg");
 187     props->untie("radar/range-nm");
 188     props->untie("radar/h-offset");
 189     props->untie("radar/v-offset");
 190     props->untie("radar/x-shift");
 191     props->untie("radar/y-shift");
 192     props->untie("radar/rotation");
 193
 194     props->untie("controls/lighting/nav-lights");
 195 }
 196
 197 double FGAIBase::UpdateRadar(FGAIManager* manager)
 198 {
 199    double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
 200    radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
 201    radar_range_ft2 *= radar_range_ft2;
 202
 203    double user_latitude  = manager->get_user_latitude();
 204    double user_longitude = manager->get_user_longitude();
 205    double lat_range = fabs(pos.lat() - user_latitude) * ft_per_deg_lat;
 206    double lon_range = fabs(pos.lon() - user_longitude) * ft_per_deg_lon;
 207    double range_ft2 = lat_range*lat_range + lon_range*lon_range;
 208
 209    //
 210    // Test whether the target is within radar range.
 211    //
 212    in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
 213    if ( in_range )
 214    {
 215      props->setBoolValue("radar/in-range", true);
 216
 217      // copy values from the AIManager
 218      double user_altitude  = manager->get_user_altitude();
 219      double user_heading   = manager->get_user_heading();
 220      double user_pitch     = manager->get_user_pitch();
 221      double user_yaw       = manager->get_user_yaw();
 222      double user_speed     = manager->get_user_speed();
 223
 224      // calculate range to target in feet and nautical miles
 225      double range_ft = sqrt( range_ft2 );
 226      range = range_ft / 6076.11549;
 227
 228      // calculate bearing to target
 229      if (pos.lat() >= user_latitude) {
 230         bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
 231         if (pos.lon() >= user_longitude) {
 232            bearing = 90.0 - bearing;
 233         } else {
 234            bearing = 270.0 + bearing;
 235         }
 236      } else {
 237         bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
 238         if (pos.lon() >= user_longitude) {
 239            bearing = 180.0 - bearing;
 240         } else {
 241            bearing = 180.0 + bearing;
 242         }
 243      }
 244
 245      // calculate look left/right to target, without yaw correction
 246      horiz_offset = bearing - user_heading;
 247      if (horiz_offset > 180.0) horiz_offset -= 360.0;
 248      if (horiz_offset < -180.0) horiz_offset += 360.0;
 249
 250      // calculate elevation to target
 251      elevation = atan2( altitude * SG_METER_TO_FEET - user_altitude, range_ft )
 252                         * SG_RADIANS_TO_DEGREES;
 253
 254      // calculate look up/down to target
 255      vert_offset = elevation + user_pitch;
 256
 257      /* this calculation needs to be fixed, but it isn't important anyway
 258      // calculate range rate
 259      double recip_bearing = bearing + 180.0;
 260      if (recip_bearing > 360.0) recip_bearing -= 360.0;
 261      double my_horiz_offset = recip_bearing - hdg;
 262      if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
 263      if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
 264      rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
 265              +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
 266 */
 267
 268      // now correct look left/right for yaw
 269      horiz_offset += user_yaw;
 270
 271      // calculate values for radar display
 272      y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
 273      x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
 274      rotation = hdg - user_heading;
 275      if (rotation < 0.0) rotation += 360.0;
 276
 277    }
 278
 279    return range_ft2;
 280 }
 281
 282
 283 /*
 284  * getters and Setters
 285  */
 286 void FGAIBase::_setLongitude( double longitude ) {
 287     pos.setlon(longitude);
 288 }
 289 void FGAIBase::_setLatitude ( double latitude )  {
 290     pos.setlat(latitude);
 291 }
 292
 293 double FGAIBase::_getLongitude() const {
 294     return pos.lon();
 295 }
 296 double FGAIBase::_getLatitude () const {
 297     return pos.lat();
 298 }
 299 double FGAIBase::_getRdot() const {
 300     return rdot;
 301 }
 302 double FGAIBase::_getVS_fps() const {
 303     return vs*60.0;
 304 }
 305 void FGAIBase::_setVS_fps( double _vs ) {
 306     vs = _vs/60.0;
 307 }
 308
 309 double FGAIBase::_getAltitude() const {
 310     return altitude;
 311 }
 312 void FGAIBase::_setAltitude( double _alt ) {
 313     setAltitude( _alt );
 314 }
 315
 316 bool FGAIBase::_isNight() {
 317     return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
 318 }
 319
 320 int FGAIBase::_getID() const {
 321     return (int)(this);
 322 }