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>
48 class FGAIBase : public SGReferenced {
51 enum object_type { otNull = 0, otAircraft, otShip, otCarrier, otBallistic,
52 otRocket, otStorm, otThermal, otStatic, otWingman, otGroundVehicle,
53 otEscort, otMultiplayer,
54 MAX_OBJECTS }; // Needs to be last!!!
56 FGAIBase(object_type ot, bool enableHot);
59 virtual void readFromScenario(SGPropertyNode* scFileNode);
61 virtual bool init(bool search_in_AI_path=false);
62 virtual void initModel(osg::Node *node);
63 virtual void update(double dt);
65 virtual void unbind();
66 virtual void reinit() {}
69 void setManager(FGAIManager* mgr, SGPropertyNode* p);
70 void setPath( const char* model );
71 void setSMPath( const string& p );
72 void setCallSign(const string& );
73 void setSpeed( double speed_KTAS );
74 void setAltitude( double altitude_ft );
75 void setAltitudeAGL( double altitude_agl_ft );
76 void setHeading( double heading );
77 void setLatitude( double latitude );
78 void setLongitude( double longitude );
79 void setBank( double bank );
80 void setPitch( double newpitch );
81 void setRadius ( double radius );
82 void setXoffset( double x_offset );
83 void setYoffset( double y_offset );
84 void setZoffset( double z_offset );
85 void setPitchoffset( double x_offset );
86 void setRolloffset( double y_offset );
87 void setYawoffset( double z_offset );
88 void setServiceable ( bool serviceable );
89 void setDie( bool die );
90 void setCollisionData( bool i, double lat, double lon, double elev );
91 void setImpactData( bool d );
92 void setImpactLat( double lat );
93 void setImpactLon( double lon );
94 void setImpactElev( double e );
95 void setParentName(const string& p);
96 void setName(const string& n);
97 void setMaxSpeed(double kts);
99 void calcRangeBearing(double lat, double lon, double lat2, double lon2,
100 double &range, double &bearing) const;
101 double calcRelBearingDeg(double bearing, double heading);
102 double calcTrueBearingDeg(double bearing, double heading);
103 double calcRecipBearingDeg(double bearing);
105 bool setParentNode();
108 int _getSubID() const;
112 SGVec3d getCartPosAt(const SGVec3d& off) const;
113 SGVec3d getCartPos() const;
115 bool getGroundElevationM(const SGGeod& pos, double& elev,
116 const SGMaterial** material) const;
119 const SGMaterial* _material;
121 double _getCartPosX() const;
122 double _getCartPosY() const;
123 double _getCartPosZ() const;
129 double _pitch_offset;
146 SGPropertyNode_ptr _selected_ac;
147 SGPropertyNode_ptr props;
148 SGPropertyNode_ptr trigger_node;
149 SGPropertyNode_ptr model_removed; // where to report model removal
150 FGAIManager* manager;
152 // these describe the model's actual state
153 SGGeod pos; // WGS84 lat & lon in degrees, elev above sea-level in meters
154 double hdg; // True heading in degrees
155 double roll; // degrees, left is negative
156 double pitch; // degrees, nose-down is negative
157 double speed; // knots true airspeed
158 double altitude_ft; // feet above sea level
159 double vs; // vertical speed, feet per minute
160 double speed_north_deg_sec;
161 double speed_east_deg_sec;
162 double turn_radius_ft; // turn radius ft at 15 kts rudder angle 15 degrees
163 double altitude_agl_ft;
165 double ft_per_deg_lon;
166 double ft_per_deg_lat;
168 // these describe the model's desired state
169 double tgt_heading; // target heading, degrees true
170 double tgt_altitude_ft; // target altitude, *feet* above sea level
171 double tgt_speed; // target speed, KTAS
177 // these describe radar information for the user
178 bool in_range; // true if in range of the radar, otherwise false
179 double bearing; // true bearing from user to this model
180 double elevation; // elevation in degrees from user to this model
181 double range; // range from user to this model, nm
182 double rdot; // range rate, in knots
183 double horiz_offset; // look left/right from user to me, deg
184 double vert_offset; // look up/down from user to me, deg
185 double x_shift; // value used by radar display instrument
186 double y_shift; // value used by radar display instrument
187 double rotation; // value used by radar display instrument
188 double ht_diff; // value used by radar display instrument
190 string model_path; //Path to the 3D model
191 SGModelPlacement aip;
204 bool _impact_reported;
205 bool _collision_reported;
206 bool _expiry_reported;
212 double _impact_pitch;
214 double _impact_speed;
217 void CalculateMach();
218 double UpdateRadar(FGAIManager* manager);
222 static int _newAIModelID();
228 osg::ref_ptr<osg::LOD> _model; //The 3D model LOD object
229 SGSharedPtr<FGFX> _fx;
232 object_type getType();
234 virtual const char* getTypeString(void) const { return "null"; }
236 bool isa( object_type otype );
238 void _setVS_fps( double _vs );
239 void _setAltitude( double _alt );
240 void _setLongitude( double longitude );
241 void _setLatitude ( double latitude );
242 void _setSubID( int s );
245 double _getAltitudeAGL(SGGeod inpos, double start);
247 double _getVS_fps() const;
248 double _getAltitude() const;
249 double _getLongitude() const;
250 double _getLatitude() const;
251 double _getElevationFt() const;
252 double _getRdot() const;
253 double _getH_offset() const;
254 double _getV_offset() const;
255 double _getX_shift() const;
256 double _getY_shift() const;
257 double _getRotation() const;
258 double _getSpeed() const;
259 double _getRoll() const;
260 double _getPitch() const;
261 double _getHeading() const;
262 double _get_speed_east_fps() const;
263 double _get_speed_north_fps() const;
264 double _get_SubPath() const;
265 double _getImpactLat() const;
266 double _getImpactLon() const;
267 double _getImpactElevFt() const;
268 double _getImpactHdg() const;
269 double _getImpactPitch() const;
270 double _getImpactRoll() const;
271 double _getImpactSpeed() const;
272 double _getXOffset() const;
273 double _getYOffset() const;
274 double _getZOffset() const;
275 //unsigned int _getCount() const;
277 bool _getServiceable() const;
278 bool _getFirstTime() const;
280 bool _getImpactData();
281 bool _getCollisionData();
282 bool _getExpiryData();
284 SGPropertyNode* _getProps() const;
286 const char* _getPath() const;
287 const char* _getSMPath() const;
288 const char* _getCallsign() const;
289 const char* _getTriggerNode() const;
290 const char* _getName() const;
291 const char* _getSubmodel() const;
294 // These are used in the Mach number calculations
297 double T; // temperature, degs farenheit
298 double p; // pressure lbs/sq ft
299 double a; // speed of sound at altitude (ft/s)
300 double Mach; // Mach number
302 static const double e;
303 static const double lbs_to_slugs;
305 inline double _getRange() { return range; };
306 inline double _getBearing() { return bearing; };
308 static bool _isNight();
310 string & getCallSign();
313 inline void FGAIBase::setManager(FGAIManager* mgr, SGPropertyNode* p) {
318 inline void FGAIBase::setPath(const char* model ) {
319 model_path.append(model);
322 inline void FGAIBase::setSMPath(const string& p) {
326 inline void FGAIBase::setServiceable(bool s) {
330 inline void FGAIBase::setSpeed( double speed_KTAS ) {
331 speed = tgt_speed = speed_KTAS;
334 inline void FGAIBase::setRadius( double radius ) {
335 turn_radius_ft = radius;
338 inline void FGAIBase::setHeading( double heading ) {
339 hdg = tgt_heading = heading;
342 inline void FGAIBase::setAltitude( double alt_ft ) {
343 altitude_ft = tgt_altitude_ft = alt_ft;
344 pos.setElevationFt(altitude_ft);
347 inline void FGAIBase::setAltitudeAGL( double alt_ft ) {
348 altitude_agl_ft = alt_ft;
351 inline void FGAIBase::setBank( double bank ) {
352 roll = tgt_roll = bank;
356 inline void FGAIBase::setPitch( double newpitch ) {
357 pitch = tgt_pitch = newpitch;
360 inline void FGAIBase::setLongitude( double longitude ) {
361 pos.setLongitudeDeg( longitude );
364 inline void FGAIBase::setLatitude ( double latitude ) {
365 pos.setLatitudeDeg( latitude );
368 inline void FGAIBase::setCallSign(const string& s) {
371 inline string& FGAIBase::getCallSign() {
375 inline void FGAIBase::setXoffset(double x) {
379 inline void FGAIBase::setYoffset(double y) {
383 inline void FGAIBase::setZoffset(double z) {
387 inline void FGAIBase::setPitchoffset(double p) {
391 inline void FGAIBase::setRolloffset(double r) {
395 inline void FGAIBase::setYawoffset(double y) {
399 inline void FGAIBase::setParentName(const string& p) {
403 inline void FGAIBase::setName(const string& n) {
407 inline void FGAIBase::setDie( bool die ) { delete_me = die; }
409 inline bool FGAIBase::getDie() { return delete_me; }
411 inline FGAIBase::object_type FGAIBase::getType() { return _otype; }
413 inline void FGAIBase::calcRangeBearing(double lat, double lon, double lat2, double lon2,
414 double &range, double &bearing) const
416 // calculate the bearing and range of the second pos from the first
417 double az2, distance;
418 geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
419 range = distance * SG_METER_TO_NM;
422 inline double FGAIBase::calcRelBearingDeg(double bearing, double heading){
423 double angle = bearing - heading;
424 SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
428 inline double FGAIBase::calcTrueBearingDeg(double bearing, double heading){
429 double angle = bearing + heading;
430 SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
434 inline double FGAIBase::calcRecipBearingDeg(double bearing){
435 double angle = bearing - 180;
436 SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
440 inline void FGAIBase::setMaxSpeed(double m) {
444 #endif // _FG_AIBASE_HXX