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)
216 // pass it on to the pager, to be be deleted in the pager thread
217 pSceneryManager->getPager()->queueDeleteRequest(temp);
221 SG_LOG(SG_AI, SG_ALERT, "AIBase: Could not unload model. Missing scenery manager!");
225 void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
230 setPath(scFileNode->getStringValue("model",
231 fgGetString("/sim/multiplay/default-model", default_model)));
233 setHeading(scFileNode->getDoubleValue("heading", 0.0));
234 setSpeed(scFileNode->getDoubleValue("speed", 0.0));
235 setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
236 setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
237 setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
238 setBank(scFileNode->getDoubleValue("roll", 0.0));
240 SGPropertyNode* submodels = scFileNode->getChild("submodels");
243 setServiceable(submodels->getBoolValue("serviceable", false));
244 setSMPath(submodels->getStringValue("path", ""));
249 void FGAIBase::update(double dt) {
251 if (_otype == otStatic)
254 if (_otype == otBallistic)
257 ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
258 ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
262 // update model's audio sample values
263 _fx->set_position_geod( pos );
265 SGQuatd orient = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
266 _fx->set_orientation( orient );
269 velocity = SGVec3d( speed_north_deg_sec, speed_east_deg_sec,
271 _fx->set_velocity( velocity );
273 else if ((_modeldata)&&(_modeldata->needInitilization()))
275 // process deferred nasal initialization,
276 // which must be done in main thread
279 // sound initialization
280 if (fgGetBool("/sim/sound/aimodels/enabled",false))
282 const string& fxpath = _modeldata->get_sound_path();
285 props->setStringValue("sim/sound/path", fxpath.c_str());
287 // initialize the sound configuration
288 std::stringstream name;
291 _fx = new FGFX(name.str(), props);
298 /** update LOD properties of the model */
299 void FGAIBase::updateLOD()
301 double maxRangeDetail = fgGetDouble("/sim/rendering/static-lod/ai-detailed", 10000.0);
302 double maxRangeBare = fgGetDouble("/sim/rendering/static-lod/ai-bare", 20000.0);
305 if( maxRangeDetail == 0.0 )
308 _model->setRange(0, 0.0, FLT_MAX);
309 _model->setRange(1, FLT_MAX, FLT_MAX);
313 _model->setRange(0, 0.0, maxRangeDetail);
314 _model->setRange(1, maxRangeDetail,maxRangeBare);
319 void FGAIBase::Transform() {
322 aip.setVisible(true);
323 aip.setPosition(pos);
326 aip.setOrientation(0.0, pitch, hdg);
328 aip.setOrientation(roll, pitch, hdg);
332 aip.setVisible(false);
338 bool FGAIBase::init(bool search_in_AI_path)
342 SG_LOG(SG_AI, SG_ALERT, "AIBase: Cannot initialize a model multiple times! " << model_path);
347 if(search_in_AI_path)
349 // setup a modified Options structure, with only the $fg-root/AI defined;
350 // we'll check that first, then give the normal search logic a chance.
351 // this ensures that models in AI/ are preferred to normal models, where
353 osg::ref_ptr<osgDB::ReaderWriter::Options>
354 opt(osg::clone(osgDB::Registry::instance()->getOptions(), osg::CopyOp::SHALLOW_COPY));
356 osgDB::FilePathList& paths(opt->getDatabasePathList());
358 BOOST_FOREACH(SGPath p, globals->get_data_paths("AI")) {
359 paths.push_back(p.str());
362 // search models in --fg-aircraft paths;
363 // when a copy of an aircraft is in --fg-aircraft paths
364 // we want to load this one instead of the default one from fgdata/Aircraft
365 BOOST_FOREACH(SGPath p, globals->get_aircraft_paths()) {
366 paths.push_back(p.str());
369 f = osgDB::findDataFile(model_path, opt.get());
373 f = simgear::SGModelLib::findDataFile(model_path);
377 f = fgGetString("/sim/multiplay/default-model", default_model);
381 _modeldata = new FGAIModelData(props);
382 osg::Node * mdl = SGModelLib::loadDeferredModel(f, props, _modeldata);
384 _model = new osg::LOD;
385 _model->setName("AI-model range animation node");
387 _model->addChild( mdl, 0, FLT_MAX );
388 _model->setCenterMode(osg::LOD::USE_BOUNDING_SPHERE_CENTER);
389 _model->setRangeMode(osg::LOD::DISTANCE_FROM_EYE_POINT);
390 // We really need low-resolution versions of AI/MP aircraft.
391 // Or at least dummy "stubs" with some default silhouette.
392 // _model->addChild( SGModelLib::loadPagedModel(fgGetString("/sim/multiplay/default-model", default_model),
393 // props, new FGNasalModelData(props)), FLT_MAX, FLT_MAX);
397 if (_model.valid() && _initialized == false) {
398 aip.init( _model.get() );
399 aip.setVisible(true);
401 globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph());
404 SG_LOG(SG_AI, SG_DEBUG, "AIBase: Loaded model " << model_path);
406 } else if (!model_path.empty()) {
407 SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path);
408 // not properly installed...
416 void FGAIBase::initModel(osg::Node *node)
418 if (_model.valid()) {
421 props->setStringValue("submodels/path", _path.c_str());
422 SG_LOG(SG_AI, SG_DEBUG, "AIBase: submodels/path " << _path);
426 props->setStringValue("parent-name", _parent.c_str());
429 fgSetString("/ai/models/model-added", props->getPath().c_str());
430 } else if (!model_path.empty()) {
431 SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path);
438 bool FGAIBase::isa( object_type otype ) {
439 return otype == _otype;
443 void FGAIBase::bind() {
444 _tiedProperties.setRoot(props);
445 tie("id", SGRawValueMethods<FGAIBase,int>(*this,
447 tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
448 tie("velocities/vertical-speed-fps",
449 SGRawValueMethods<FGAIBase,double>(*this,
450 &FGAIBase::_getVS_fps,
451 &FGAIBase::_setVS_fps));
453 tie("position/altitude-ft",
454 SGRawValueMethods<FGAIBase,double>(*this,
455 &FGAIBase::_getAltitude,
456 &FGAIBase::_setAltitude));
457 tie("position/latitude-deg",
458 SGRawValueMethods<FGAIBase,double>(*this,
459 &FGAIBase::_getLatitude,
460 &FGAIBase::_setLatitude));
461 tie("position/longitude-deg",
462 SGRawValueMethods<FGAIBase,double>(*this,
463 &FGAIBase::_getLongitude,
464 &FGAIBase::_setLongitude));
466 tie("position/global-x",
467 SGRawValueMethods<FGAIBase,double>(*this,
468 &FGAIBase::_getCartPosX,
470 tie("position/global-y",
471 SGRawValueMethods<FGAIBase,double>(*this,
472 &FGAIBase::_getCartPosY,
474 tie("position/global-z",
475 SGRawValueMethods<FGAIBase,double>(*this,
476 &FGAIBase::_getCartPosZ,
479 SGRawValueMethods<FGAIBase,const char*>(*this,
480 &FGAIBase::_getCallsign,
483 tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
484 tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
485 tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
487 tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
488 tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
489 tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
490 tie("radar/range-nm", SGRawValuePointer<double>(&range));
491 tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
492 tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
493 tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
494 tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
495 tie("radar/rotation", SGRawValuePointer<double>(&rotation));
496 tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
497 tie("subID", SGRawValuePointer<int>(&_subID));
498 tie("controls/lighting/nav-lights", SGRawValueFunctions<bool>(_isNight));
500 props->setBoolValue("controls/lighting/beacon", true);
501 props->setBoolValue("controls/lighting/strobe", true);
502 props->setBoolValue("controls/glide-path", true);
504 props->setStringValue("controls/flight/lateral-mode", "roll");
505 props->setDoubleValue("controls/flight/target-hdg", hdg);
506 props->setDoubleValue("controls/flight/target-roll", roll);
508 props->setStringValue("controls/flight/longitude-mode", "alt");
509 props->setDoubleValue("controls/flight/target-alt", altitude_ft);
510 props->setDoubleValue("controls/flight/target-pitch", pitch);
512 props->setDoubleValue("controls/flight/target-spd", speed);
514 props->setBoolValue("sim/sound/avionics/enabled", false);
515 props->setDoubleValue("sim/sound/avionics/volume", 0.0);
516 props->setBoolValue("sim/sound/avionics/external-view", false);
517 props->setBoolValue("sim/current-view/internal", false);
520 void FGAIBase::unbind() {
521 _tiedProperties.Untie();
523 props->setBoolValue("/sim/controls/radar", true);
528 void FGAIBase::removeSoundFx() {
529 // drop reference to sound effects now
532 // must remove explicitly - since the sound manager also keeps a reference
534 // now drop last reference - kill the object
539 double FGAIBase::UpdateRadar(FGAIManager* manager)
541 bool control = fgGetBool("/sim/controls/radar", true);
543 if(!control) return 0;
545 double radar_range_m = fgGetDouble("/instrumentation/radar/range");
546 bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
547 radar_range_m *= SG_NM_TO_METER * 1.1; // + 10%
548 radar_range_m *= radar_range_m; // squared
550 double d2 = distSqr(SGVec3d::fromGeod(pos), globals->get_aircraft_position_cart());
551 double range_ft = sqrt(d2) * SG_METER_TO_FEET;
553 if (!force_on && (d2 > radar_range_m)) {
554 return range_ft * range_ft;
557 props->setBoolValue("radar/in-range", true);
559 // copy values from the AIManager
560 double user_heading = manager->get_user_heading();
561 double user_pitch = manager->get_user_pitch();
563 range = range_ft * SG_FEET_TO_METER * SG_METER_TO_NM;
565 // calculate bearing to target
566 bearing = SGGeodesy::courseDeg(globals->get_aircraft_position(), pos);
568 // calculate look left/right to target, without yaw correction
569 horiz_offset = bearing - user_heading;
570 SG_NORMALIZE_RANGE(horiz_offset, -180.0, 180.0);
572 // calculate elevation to target
573 ht_diff = altitude_ft - globals->get_aircraft_position().getElevationFt();
574 elevation = atan2( ht_diff, range_ft ) * SG_RADIANS_TO_DEGREES;
576 // calculate look up/down to target
577 vert_offset = elevation - user_pitch;
579 /* this calculation needs to be fixed, but it isn't important anyway
580 // calculate range rate
581 double recip_bearing = bearing + 180.0;
582 if (recip_bearing > 360.0) recip_bearing -= 360.0;
583 double my_horiz_offset = recip_bearing - hdg;
584 if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
585 if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
586 rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
587 +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
590 // now correct look left/right for yaw
591 // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
593 // calculate values for radar display
594 y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
595 x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
597 rotation = hdg - user_heading;
598 SG_NORMALIZE_RANGE(rotation, 0.0, 360.0);
600 return range_ft * range_ft;
604 * Getters and Setters
607 SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
608 // Transform that one to the horizontal local coordinate system.
609 SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
611 // and postrotate the orientation of the AIModel wrt the horizontal
613 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
615 // The offset converted to the usual body fixed coordinate system
616 // rotated to the earth fixed coordinates axis
617 SGVec3d off = hlTrans.backTransform(_off);
619 // Add the position offset of the AIModel to gain the earth centered position
620 SGVec3d cartPos = SGVec3d::fromGeod(pos);
622 return cartPos + off;
625 SGVec3d FGAIBase::getCartPos() const {
626 SGVec3d cartPos = SGVec3d::fromGeod(pos);
630 bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
631 const simgear::BVHMaterial** material) const {
632 return globals->get_scenery()->get_elevation_m(pos, elev, material,
636 double FGAIBase::_getCartPosX() const {
637 SGVec3d cartPos = getCartPos();
641 double FGAIBase::_getCartPosY() const {
642 SGVec3d cartPos = getCartPos();
646 double FGAIBase::_getCartPosZ() const {
647 SGVec3d cartPos = getCartPos();
651 void FGAIBase::_setLongitude( double longitude ) {
652 pos.setLongitudeDeg(longitude);
655 void FGAIBase::_setLatitude ( double latitude ) {
656 pos.setLatitudeDeg(latitude);
659 void FGAIBase::_setSubID( int s ) {
663 bool FGAIBase::setParentNode() {
666 SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name
667 << " parent not set ");
671 const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
673 for (int i = ai->nChildren() - 1; i >= -1; i--) {
674 SGPropertyNode_ptr model;
676 if (i < 0) { // last iteration: selected model
677 model = _selected_ac;
679 model = ai->getChild(i);
680 //const string& path = ai->getPath();
681 const string name = model->getStringValue("name");
683 if (!model->nChildren()){
686 if (name == _parent) {
687 _selected_ac = model; // save selected model for last iteration
697 if (_selected_ac != 0){
698 const string name = _selected_ac->getStringValue("name");
701 SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name
702 << " parent not found: dying ");
709 double FGAIBase::_getLongitude() const {
710 return pos.getLongitudeDeg();
713 double FGAIBase::_getLatitude() const {
714 return pos.getLatitudeDeg();
717 double FGAIBase::_getElevationFt() const {
718 return pos.getElevationFt();
721 double FGAIBase::_getRdot() const {
725 double FGAIBase::_getVS_fps() const {
729 double FGAIBase::_get_speed_east_fps() const {
730 return speed_east_deg_sec * ft_per_deg_lon;
733 double FGAIBase::_get_speed_north_fps() const {
734 return speed_north_deg_sec * ft_per_deg_lat;
737 void FGAIBase::_setVS_fps( double _vs ) {
741 double FGAIBase::_getAltitude() const {
745 double FGAIBase::_getAltitudeAGL(SGGeod inpos, double start){
746 getGroundElevationM(SGGeod::fromGeodM(inpos, start),
748 return inpos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
751 bool FGAIBase::_getServiceable() const {
755 SGPropertyNode* FGAIBase::_getProps() const {
759 void FGAIBase::_setAltitude( double _alt ) {
763 bool FGAIBase::_isNight() {
764 return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
767 bool FGAIBase::_getCollisionData() {
768 return _collision_reported;
771 bool FGAIBase::_getExpiryData() {
772 return _expiry_reported;
775 bool FGAIBase::_getImpactData() {
776 return _impact_reported;
779 double FGAIBase::_getImpactLat() const {
783 double FGAIBase::_getImpactLon() const {
787 double FGAIBase::_getImpactElevFt() const {
788 return _impact_elev * SG_METER_TO_FEET;
791 double FGAIBase::_getImpactPitch() const {
792 return _impact_pitch;
795 double FGAIBase::_getImpactRoll() const {
799 double FGAIBase::_getImpactHdg() const {
803 double FGAIBase::_getImpactSpeed() const {
804 return _impact_speed;
807 int FGAIBase::getID() const {
811 int FGAIBase::_getSubID() const {
815 double FGAIBase::_getSpeed() const {
819 double FGAIBase::_getRoll() const {
823 double FGAIBase::_getPitch() const {
827 double FGAIBase::_getHeading() const {
831 double FGAIBase::_getXOffset() const {
835 double FGAIBase::_getYOffset() const {
839 double FGAIBase::_getZOffset() const {
843 const char* FGAIBase::_getPath() const {
844 return model_path.c_str();
847 const char* FGAIBase::_getSMPath() const {
848 return _path.c_str();
851 const char* FGAIBase::_getName() const {
852 return _name.c_str();
855 const char* FGAIBase::_getCallsign() const {
856 return _callsign.c_str();
859 const char* FGAIBase::_getSubmodel() const {
860 return _submodel.c_str();
863 void FGAIBase::CalculateMach() {
864 // Calculate rho at altitude, using standard atmosphere
865 // For the temperature T and the pressure p,
866 double altitude = altitude_ft;
868 if (altitude < 36152) { // curve fits for the troposphere
869 T = 59 - 0.00356 * altitude;
870 p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
871 } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
873 p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
874 } else { // upper stratosphere
875 T = -205.05 + (0.00164 * altitude);
876 p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
879 rho = p / (1718 * (T + 459.7));
881 // calculate the speed of sound at altitude
882 // a = sqrt ( g * R * (T + 459.7))
884 // a = speed of sound [ft/s]
885 // g = specific heat ratio, which is usually equal to 1.4
886 // R = specific gas constant, which equals 1716 ft-lb/slug/R
887 a = sqrt ( 1.4 * 1716 * (T + 459.7));
889 // calculate Mach number
892 // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
895 int FGAIBase::_newAIModelID() {
899 id++; // id = 0 is not allowed.