1 // FGAIBase.hxx - 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 // 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.
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.
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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
20 #ifndef _FG_AIBASE_HXX
21 #define _FG_AIBASE_HXX
26 #include <simgear/constants.h>
27 #include <simgear/math/SGMath.hxx>
28 #include <simgear/scene/model/placement.hxx>
29 #include <simgear/misc/sg_path.hxx>
30 #include <simgear/structure/SGSharedPtr.hxx>
31 #include <simgear/structure/SGReferenced.hxx>
32 #include <simgear/sg_inlines.h>
34 #include <simgear/math/sg_geodesy.hxx>
37 #include <Main/fg_props.hxx>
47 class FGAIBase : public SGReferenced {
50 enum object_type { otNull = 0, otAircraft, otShip, otCarrier, otBallistic,
51 otRocket, otStorm, otThermal, otStatic, otWingman, otGroundVehicle,
52 otEscort, otMultiplayer,
53 MAX_OBJECTS }; // Needs to be last!!!
55 FGAIBase(object_type ot);
58 virtual void readFromScenario(SGPropertyNode* scFileNode);
60 virtual bool init(bool search_in_AI_path=false);
61 virtual void initModel(osg::Node *node);
62 virtual void update(double dt);
64 virtual void unbind();
65 virtual void reinit() {}
67 void setManager(FGAIManager* mgr, SGPropertyNode* p);
68 void setPath( const char* model );
69 void setSMPath( const string& p );
70 void setCallSign(const string& );
71 void setSpeed( double speed_KTAS );
72 void setAltitude( double altitude_ft );
73 void setAltitudeAGL( double altitude_agl_ft );
74 void setHeading( double heading );
75 void setLatitude( double latitude );
76 void setLongitude( double longitude );
77 void setBank( double bank );
78 void setPitch( double newpitch );
79 void setRadius ( double radius );
80 void setXoffset( double x_offset );
81 void setYoffset( double y_offset );
82 void setZoffset( double z_offset );
83 void setPitchoffset( double x_offset );
84 void setRolloffset( double y_offset );
85 void setYawoffset( double z_offset );
86 void setServiceable ( bool serviceable );
87 void setDie( bool die );
88 void setCollisionData( bool i, double lat, double lon, double elev );
89 void setImpactData( bool d );
90 void setImpactLat( double lat );
91 void setImpactLon( double lon );
92 void setImpactElev( double e );
93 void setParentName(const string& p);
94 void setName(const string& n);
95 void setMaxSpeed(double kts);
97 void calcRangeBearing(double lat, double lon, double lat2, double lon2,
98 double &range, double &bearing) const;
99 double calcRelBearingDeg(double bearing, double heading);
100 double calcTrueBearingDeg(double bearing, double heading);
101 double calcRecipBearingDeg(double bearing);
103 bool setParentNode();
106 int _getSubID() const;
110 SGVec3d getCartPosAt(const SGVec3d& off) const;
111 SGVec3d getCartPos() const;
113 bool getGroundElevationM(const SGGeod& pos, double& elev,
114 const SGMaterial** material) const;
117 const SGMaterial* _material;
119 double _getCartPosX() const;
120 double _getCartPosY() const;
121 double _getCartPosZ() const;
127 double _pitch_offset;
144 SGPropertyNode_ptr _selected_ac;
145 SGPropertyNode_ptr props;
146 SGPropertyNode_ptr trigger_node;
147 SGPropertyNode_ptr model_removed; // where to report model removal
148 FGAIManager* manager;
150 // these describe the model's actual state
151 SGGeod pos; // WGS84 lat & lon in degrees, elev above sea-level in meters
152 double hdg; // True heading in degrees
153 double roll; // degrees, left is negative
154 double pitch; // degrees, nose-down is negative
155 double speed; // knots true airspeed
156 double altitude_ft; // feet above sea level
157 double vs; // vertical speed, feet per minute
158 double speed_north_deg_sec;
159 double speed_east_deg_sec;
160 double turn_radius_ft; // turn radius ft at 15 kts rudder angle 15 degrees
161 double altitude_agl_ft;
163 double ft_per_deg_lon;
164 double ft_per_deg_lat;
166 // these describe the model's desired state
167 double tgt_heading; // target heading, degrees true
168 double tgt_altitude_ft; // target altitude, *feet* above sea level
169 double tgt_speed; // target speed, KTAS
175 // these describe radar information for the user
176 bool in_range; // true if in range of the radar, otherwise false
177 double bearing; // true bearing from user to this model
178 double elevation; // elevation in degrees from user to this model
179 double range; // range from user to this model, nm
180 double rdot; // range rate, in knots
181 double horiz_offset; // look left/right from user to me, deg
182 double vert_offset; // look up/down from user to me, deg
183 double x_shift; // value used by radar display instrument
184 double y_shift; // value used by radar display instrument
185 double rotation; // value used by radar display instrument
186 double ht_diff; // value used by radar display instrument
188 string model_path; //Path to the 3D model
189 osg::ref_ptr<osg::Node> model; //The 3D model object
190 SGModelPlacement aip;
203 bool _impact_reported;
204 bool _collision_reported;
205 bool _expiry_reported;
211 double _impact_pitch;
213 double _impact_speed;
216 void CalculateMach();
217 double UpdateRadar(FGAIManager* manager);
219 static int _newAIModelID();
227 object_type getType();
229 virtual const char* getTypeString(void) const { return "null"; }
231 bool isa( object_type otype );
233 void _setVS_fps( double _vs );
234 void _setAltitude( double _alt );
235 void _setLongitude( double longitude );
236 void _setLatitude ( double latitude );
237 void _setSubID( int s );
240 double _getAltitudeAGL(SGGeod inpos, double start);
242 double _getVS_fps() const;
243 double _getAltitude() const;
244 double _getLongitude() const;
245 double _getLatitude() const;
246 double _getElevationFt() const;
247 double _getRdot() const;
248 double _getH_offset() const;
249 double _getV_offset() const;
250 double _getX_shift() const;
251 double _getY_shift() const;
252 double _getRotation() const;
253 double _getSpeed() const;
254 double _getRoll() const;
255 double _getPitch() const;
256 double _getHeading() const;
257 double _get_speed_east_fps() const;
258 double _get_speed_north_fps() const;
259 double _get_SubPath() const;
260 double _getImpactLat() const;
261 double _getImpactLon() const;
262 double _getImpactElevFt() const;
263 double _getImpactHdg() const;
264 double _getImpactPitch() const;
265 double _getImpactRoll() const;
266 double _getImpactSpeed() const;
267 double _getXOffset() const;
268 double _getYOffset() const;
269 double _getZOffset() const;
270 //unsigned int _getCount() const;
272 bool _getServiceable() const;
273 bool _getFirstTime() const;
275 bool _getImpactData();
276 bool _getCollisionData();
277 bool _getExpiryData();
279 SGPropertyNode* _getProps() const;
281 const char* _getPath() const;
282 const char* _getSMPath() const;
283 const char* _getCallsign() const;
284 const char* _getTriggerNode() const;
285 const char* _getName() const;
286 const char* _getSubmodel() const;
289 // These are used in the Mach number calculations
292 double T; // temperature, degs farenheit
293 double p; // pressure lbs/sq ft
294 double a; // speed of sound at altitude (ft/s)
295 double Mach; // Mach number
297 static const double e;
298 static const double lbs_to_slugs;
300 inline double _getRange() { return range; };
301 inline double _getBearing() { return bearing; };
303 virtual osg::Node* load3DModel(const string &path,
304 SGPropertyNode *prop_root);
306 static bool _isNight();
309 inline void FGAIBase::setManager(FGAIManager* mgr, SGPropertyNode* p) {
314 inline void FGAIBase::setPath(const char* model ) {
315 model_path.append(model);
318 inline void FGAIBase::setSMPath(const string& p) {
322 inline void FGAIBase::setServiceable(bool s) {
326 inline void FGAIBase::setSpeed( double speed_KTAS ) {
327 speed = tgt_speed = speed_KTAS;
330 inline void FGAIBase::setRadius( double radius ) {
331 turn_radius_ft = radius;
334 inline void FGAIBase::setHeading( double heading ) {
335 hdg = tgt_heading = heading;
338 inline void FGAIBase::setAltitude( double alt_ft ) {
339 altitude_ft = tgt_altitude_ft = alt_ft;
340 pos.setElevationFt(altitude_ft);
343 inline void FGAIBase::setAltitudeAGL( double alt_ft ) {
344 altitude_agl_ft = alt_ft;
347 inline void FGAIBase::setBank( double bank ) {
348 roll = tgt_roll = bank;
352 inline void FGAIBase::setPitch( double newpitch ) {
353 pitch = tgt_pitch = newpitch;
356 inline void FGAIBase::setLongitude( double longitude ) {
357 pos.setLongitudeDeg( longitude );
360 inline void FGAIBase::setLatitude ( double latitude ) {
361 pos.setLatitudeDeg( latitude );
364 inline void FGAIBase::setCallSign(const string& s) {
367 inline void FGAIBase::setXoffset(double x) {
371 inline void FGAIBase::setYoffset(double y) {
375 inline void FGAIBase::setZoffset(double z) {
379 inline void FGAIBase::setPitchoffset(double p) {
383 inline void FGAIBase::setRolloffset(double r) {
387 inline void FGAIBase::setYawoffset(double y) {
391 inline void FGAIBase::setParentName(const string& p) {
395 inline void FGAIBase::setName(const string& n) {
399 inline void FGAIBase::setDie( bool die ) { delete_me = die; }
401 inline bool FGAIBase::getDie() { return delete_me; }
403 inline FGAIBase::object_type FGAIBase::getType() { return _otype; }
405 inline void FGAIBase::calcRangeBearing(double lat, double lon, double lat2, double lon2,
406 double &range, double &bearing) const
408 // calculate the bearing and range of the second pos from the first
409 double az2, distance;
410 geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
411 range = distance * SG_METER_TO_NM;
414 inline double FGAIBase::calcRelBearingDeg(double bearing, double heading){
415 double angle = bearing - heading;
416 SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
420 inline double FGAIBase::calcTrueBearingDeg(double bearing, double heading){
421 double angle = bearing + heading;
422 SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
426 inline double FGAIBase::calcRecipBearingDeg(double bearing){
427 double angle = bearing - 180;
428 SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
432 inline void FGAIBase::setMaxSpeed(double m) {
436 #endif // _FG_AIBASE_HXX