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
25 #include <simgear/constants.h>
26 #include <simgear/math/SGMath.hxx>
27 #include <simgear/scene/model/placement.hxx>
28 #include <simgear/scene/model/modellib.hxx>
29 #include <simgear/misc/sg_path.hxx>
30 #include <simgear/structure/SGSharedPtr.hxx>
31 #include <simgear/structure/SGReferenced.hxx>
32 #include <simgear/props/tiedpropertylist.hxx>
33 #include <simgear/sg_inlines.h>
35 #include <simgear/math/sg_geodesy.hxx>
37 #include <Main/fg_props.hxx>
46 class FGNasalModelDataProxy;
47 class FGAIModelData; // defined below
50 class FGAIBase : public SGReferenced {
53 enum object_type { otNull = 0, otAircraft, otShip, otCarrier, otBallistic,
54 otRocket, otStorm, otThermal, otStatic, otWingman, otGroundVehicle,
55 otEscort, otMultiplayer,
56 MAX_OBJECTS }; // Needs to be last!!!
58 FGAIBase(object_type ot, bool enableHot);
61 virtual void readFromScenario(SGPropertyNode* scFileNode);
63 virtual bool init(bool search_in_AI_path=false);
64 virtual void initModel(osg::Node *node);
65 virtual void update(double dt);
67 virtual void unbind();
68 virtual void reinit() {}
71 void setManager(FGAIManager* mgr, SGPropertyNode* p);
72 void setPath( const char* model );
73 void setSMPath( const string& p );
74 void setCallSign(const string& );
75 void setSpeed( double speed_KTAS );
76 void setAltitude( double altitude_ft );
77 void setAltitudeAGL( double altitude_agl_ft );
78 void setHeading( double heading );
79 void setLatitude( double latitude );
80 void setLongitude( double longitude );
81 void setBank( double bank );
82 void setPitch( double newpitch );
83 void setRadius ( double radius );
84 void setXoffset( double x_offset );
85 void setYoffset( double y_offset );
86 void setZoffset( double z_offset );
87 void setPitchoffset( double x_offset );
88 void setRolloffset( double y_offset );
89 void setYawoffset( double z_offset );
90 void setServiceable ( bool serviceable );
91 void setDie( bool die );
92 void setCollisionData( bool i, double lat, double lon, double elev );
93 void setImpactData( bool d );
94 void setImpactLat( double lat );
95 void setImpactLon( double lon );
96 void setImpactElev( double e );
97 void setParentName(const string& p);
98 void setName(const string& n);
99 void setMaxSpeed(double kts);
101 void calcRangeBearing(double lat, double lon, double lat2, double lon2,
102 double &range, double &bearing) const;
103 double calcRelBearingDeg(double bearing, double heading);
104 double calcTrueBearingDeg(double bearing, double heading);
105 double calcRecipBearingDeg(double bearing);
107 bool setParentNode();
110 int _getSubID() const;
114 SGVec3d getCartPosAt(const SGVec3d& off) const;
115 SGVec3d getCartPos() const;
117 bool getGroundElevationM(const SGGeod& pos, double& elev,
118 const SGMaterial** material) const;
121 const SGMaterial* _material;
123 double _getCartPosX() const;
124 double _getCartPosY() const;
125 double _getCartPosZ() const;
131 double _pitch_offset;
148 * Tied-properties helper, record nodes which are tied for easy un-tie-ing
150 template <typename T>
151 void tie(const char* aRelPath, const SGRawValue<T>& aRawValue)
153 _tiedProperties.Tie(props->getNode(aRelPath, true), aRawValue);
156 simgear::TiedPropertyList _tiedProperties;
157 SGPropertyNode_ptr _selected_ac;
158 SGPropertyNode_ptr props;
159 SGPropertyNode_ptr trigger_node;
160 SGPropertyNode_ptr model_removed; // where to report model removal
161 FGAIManager* manager;
163 // these describe the model's actual state
164 SGGeod pos; // WGS84 lat & lon in degrees, elev above sea-level in meters
165 double hdg; // True heading in degrees
166 double roll; // degrees, left is negative
167 double pitch; // degrees, nose-down is negative
168 double speed; // knots true airspeed
169 double altitude_ft; // feet above sea level
170 double vs; // vertical speed, feet per minute
171 double speed_north_deg_sec;
172 double speed_east_deg_sec;
173 double turn_radius_ft; // turn radius ft at 15 kts rudder angle 15 degrees
174 double altitude_agl_ft;
176 double ft_per_deg_lon;
177 double ft_per_deg_lat;
179 // these describe the model's desired state
180 double tgt_heading; // target heading, degrees true
181 double tgt_altitude_ft; // target altitude, *feet* above sea level
182 double tgt_speed; // target speed, KTAS
188 // these describe radar information for the user
189 bool in_range; // true if in range of the radar, otherwise false
190 double bearing; // true bearing from user to this model
191 double elevation; // elevation in degrees from user to this model
192 double range; // range from user to this model, nm
193 double rdot; // range rate, in knots
194 double horiz_offset; // look left/right from user to me, deg
195 double vert_offset; // look up/down from user to me, deg
196 double x_shift; // value used by radar display instrument
197 double y_shift; // value used by radar display instrument
198 double rotation; // value used by radar display instrument
199 double ht_diff; // value used by radar display instrument
201 string model_path; //Path to the 3D model
202 SGModelPlacement aip;
215 bool _impact_reported;
216 bool _collision_reported;
217 bool _expiry_reported;
223 double _impact_pitch;
225 double _impact_speed;
228 void CalculateMach();
229 double UpdateRadar(FGAIManager* manager);
233 static int _newAIModelID();
239 osg::ref_ptr<osg::LOD> _model; //The 3D model LOD object
241 osg::ref_ptr<FGAIModelData> _modeldata;
243 SGSharedPtr<FGFX> _fx;
246 object_type getType();
248 virtual const char* getTypeString(void) const { return "null"; }
250 bool isa( object_type otype );
252 void _setVS_fps( double _vs );
253 void _setAltitude( double _alt );
254 void _setLongitude( double longitude );
255 void _setLatitude ( double latitude );
256 void _setSubID( int s );
259 double _getAltitudeAGL(SGGeod inpos, double start);
261 double _getVS_fps() const;
262 double _getAltitude() const;
263 double _getLongitude() const;
264 double _getLatitude() const;
265 double _getElevationFt() const;
266 double _getRdot() const;
267 double _getH_offset() const;
268 double _getV_offset() const;
269 double _getX_shift() const;
270 double _getY_shift() const;
271 double _getRotation() const;
272 double _getSpeed() const;
273 double _getRoll() const;
274 double _getPitch() const;
275 double _getHeading() const;
276 double _get_speed_east_fps() const;
277 double _get_speed_north_fps() const;
278 double _get_SubPath() const;
279 double _getImpactLat() const;
280 double _getImpactLon() const;
281 double _getImpactElevFt() const;
282 double _getImpactHdg() const;
283 double _getImpactPitch() const;
284 double _getImpactRoll() const;
285 double _getImpactSpeed() const;
286 double _getXOffset() const;
287 double _getYOffset() const;
288 double _getZOffset() const;
289 //unsigned int _getCount() const;
291 bool _getServiceable() const;
292 bool _getFirstTime() const;
294 bool _getImpactData();
295 bool _getCollisionData();
296 bool _getExpiryData();
298 SGPropertyNode* _getProps() const;
300 const char* _getPath() const;
301 const char* _getSMPath() const;
302 const char* _getCallsign() const;
303 const char* _getTriggerNode() const;
304 const char* _getName() const;
305 const char* _getSubmodel() const;
308 // These are used in the Mach number calculations
311 double T; // temperature, degs farenheit
312 double p; // pressure lbs/sq ft
313 double a; // speed of sound at altitude (ft/s)
314 double Mach; // Mach number
316 static const double e;
317 static const double lbs_to_slugs;
319 inline double _getRange() { return range; };
320 inline double _getBearing() { return bearing; };
322 static bool _isNight();
324 string & getCallSign();
327 inline void FGAIBase::setManager(FGAIManager* mgr, SGPropertyNode* p) {
332 inline void FGAIBase::setPath(const char* model ) {
333 model_path.append(model);
336 inline void FGAIBase::setSMPath(const string& p) {
340 inline void FGAIBase::setServiceable(bool s) {
344 inline void FGAIBase::setSpeed( double speed_KTAS ) {
345 speed = tgt_speed = speed_KTAS;
348 inline void FGAIBase::setRadius( double radius ) {
349 turn_radius_ft = radius;
352 inline void FGAIBase::setHeading( double heading ) {
353 hdg = tgt_heading = heading;
356 inline void FGAIBase::setAltitude( double alt_ft ) {
357 altitude_ft = tgt_altitude_ft = alt_ft;
358 pos.setElevationFt(altitude_ft);
361 inline void FGAIBase::setAltitudeAGL( double alt_ft ) {
362 altitude_agl_ft = alt_ft;
365 inline void FGAIBase::setBank( double bank ) {
366 roll = tgt_roll = bank;
370 inline void FGAIBase::setPitch( double newpitch ) {
371 pitch = tgt_pitch = newpitch;
374 inline void FGAIBase::setLongitude( double longitude ) {
375 pos.setLongitudeDeg( longitude );
378 inline void FGAIBase::setLatitude ( double latitude ) {
379 pos.setLatitudeDeg( latitude );
382 inline void FGAIBase::setCallSign(const string& s) {
385 inline string& FGAIBase::getCallSign() {
389 inline void FGAIBase::setXoffset(double x) {
393 inline void FGAIBase::setYoffset(double y) {
397 inline void FGAIBase::setZoffset(double z) {
401 inline void FGAIBase::setPitchoffset(double p) {
405 inline void FGAIBase::setRolloffset(double r) {
409 inline void FGAIBase::setYawoffset(double y) {
413 inline void FGAIBase::setParentName(const string& p) {
417 inline void FGAIBase::setName(const string& n) {
421 inline void FGAIBase::setDie( bool die ) { delete_me = die; }
423 inline bool FGAIBase::getDie() { return delete_me; }
425 inline FGAIBase::object_type FGAIBase::getType() { return _otype; }
427 inline void FGAIBase::calcRangeBearing(double lat, double lon, double lat2, double lon2,
428 double &range, double &bearing) const
430 // calculate the bearing and range of the second pos from the first
431 double az2, distance;
432 geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
433 range = distance * SG_METER_TO_NM;
436 inline double FGAIBase::calcRelBearingDeg(double bearing, double heading){
437 double angle = bearing - heading;
438 SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
442 inline double FGAIBase::calcTrueBearingDeg(double bearing, double heading){
443 double angle = bearing + heading;
444 SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
448 inline double FGAIBase::calcRecipBearingDeg(double bearing){
449 double angle = bearing - 180;
450 SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
454 inline void FGAIBase::setMaxSpeed(double m) {
459 class FGAIModelData : public simgear::SGModelData {
461 FGAIModelData(SGPropertyNode *root = 0);
464 /** osg callback, thread-safe */
465 void modelLoaded(const string& path, SGPropertyNode *prop, osg::Node *n);
467 /** init hook to be called after model is loaded.
468 * Not thread-safe. Call from main thread only. */
469 void init(void) { _initialized = true; }
471 bool needInitilization(void) { return _ready && !_initialized;}
472 bool isInitialized(void) { return _initialized;}
473 inline std::string& get_sound_path() { return _fxpath;}
476 FGNasalModelDataProxy *_nasal;
482 #endif // _FG_AIBASE_HXX