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, bool enableHot);
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() {}
68 void setManager(FGAIManager* mgr, SGPropertyNode* p);
69 void setPath( const char* model );
70 void setSMPath( const string& p );
71 void setCallSign(const string& );
72 void setSpeed( double speed_KTAS );
73 void setAltitude( double altitude_ft );
74 void setAltitudeAGL( double altitude_agl_ft );
75 void setHeading( double heading );
76 void setLatitude( double latitude );
77 void setLongitude( double longitude );
78 void setBank( double bank );
79 void setPitch( double newpitch );
80 void setRadius ( double radius );
81 void setXoffset( double x_offset );
82 void setYoffset( double y_offset );
83 void setZoffset( double z_offset );
84 void setPitchoffset( double x_offset );
85 void setRolloffset( double y_offset );
86 void setYawoffset( double z_offset );
87 void setServiceable ( bool serviceable );
88 void setDie( bool die );
89 void setCollisionData( bool i, double lat, double lon, double elev );
90 void setImpactData( bool d );
91 void setImpactLat( double lat );
92 void setImpactLon( double lon );
93 void setImpactElev( double e );
94 void setParentName(const string& p);
95 void setName(const string& n);
96 void setMaxSpeed(double kts);
98 void calcRangeBearing(double lat, double lon, double lat2, double lon2,
99 double &range, double &bearing) const;
100 double calcRelBearingDeg(double bearing, double heading);
101 double calcTrueBearingDeg(double bearing, double heading);
102 double calcRecipBearingDeg(double bearing);
104 bool setParentNode();
107 int _getSubID() const;
111 SGVec3d getCartPosAt(const SGVec3d& off) const;
112 SGVec3d getCartPos() const;
114 bool getGroundElevationM(const SGGeod& pos, double& elev,
115 const SGMaterial** material) const;
118 const SGMaterial* _material;
120 double _getCartPosX() const;
121 double _getCartPosY() const;
122 double _getCartPosZ() const;
128 double _pitch_offset;
145 SGPropertyNode_ptr _selected_ac;
146 SGPropertyNode_ptr props;
147 SGPropertyNode_ptr trigger_node;
148 SGPropertyNode_ptr model_removed; // where to report model removal
149 FGAIManager* manager;
151 // these describe the model's actual state
152 SGGeod pos; // WGS84 lat & lon in degrees, elev above sea-level in meters
153 double hdg; // True heading in degrees
154 double roll; // degrees, left is negative
155 double pitch; // degrees, nose-down is negative
156 double speed; // knots true airspeed
157 double altitude_ft; // feet above sea level
158 double vs; // vertical speed, feet per minute
159 double speed_north_deg_sec;
160 double speed_east_deg_sec;
161 double turn_radius_ft; // turn radius ft at 15 kts rudder angle 15 degrees
162 double altitude_agl_ft;
164 double ft_per_deg_lon;
165 double ft_per_deg_lat;
167 // these describe the model's desired state
168 double tgt_heading; // target heading, degrees true
169 double tgt_altitude_ft; // target altitude, *feet* above sea level
170 double tgt_speed; // target speed, KTAS
176 // these describe radar information for the user
177 bool in_range; // true if in range of the radar, otherwise false
178 double bearing; // true bearing from user to this model
179 double elevation; // elevation in degrees from user to this model
180 double range; // range from user to this model, nm
181 double rdot; // range rate, in knots
182 double horiz_offset; // look left/right from user to me, deg
183 double vert_offset; // look up/down from user to me, deg
184 double x_shift; // value used by radar display instrument
185 double y_shift; // value used by radar display instrument
186 double rotation; // value used by radar display instrument
187 double ht_diff; // value used by radar display instrument
189 string model_path; //Path to the 3D model
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();
225 osg::ref_ptr<osg::LOD> _model; //The 3D model LOD object
228 object_type getType();
230 virtual const char* getTypeString(void) const { return "null"; }
232 bool isa( object_type otype );
234 void _setVS_fps( double _vs );
235 void _setAltitude( double _alt );
236 void _setLongitude( double longitude );
237 void _setLatitude ( double latitude );
238 void _setSubID( int s );
241 double _getAltitudeAGL(SGGeod inpos, double start);
243 double _getVS_fps() const;
244 double _getAltitude() const;
245 double _getLongitude() const;
246 double _getLatitude() const;
247 double _getElevationFt() const;
248 double _getRdot() const;
249 double _getH_offset() const;
250 double _getV_offset() const;
251 double _getX_shift() const;
252 double _getY_shift() const;
253 double _getRotation() const;
254 double _getSpeed() const;
255 double _getRoll() const;
256 double _getPitch() const;
257 double _getHeading() const;
258 double _get_speed_east_fps() const;
259 double _get_speed_north_fps() const;
260 double _get_SubPath() const;
261 double _getImpactLat() const;
262 double _getImpactLon() const;
263 double _getImpactElevFt() const;
264 double _getImpactHdg() const;
265 double _getImpactPitch() const;
266 double _getImpactRoll() const;
267 double _getImpactSpeed() const;
268 double _getXOffset() const;
269 double _getYOffset() const;
270 double _getZOffset() const;
271 //unsigned int _getCount() const;
273 bool _getServiceable() const;
274 bool _getFirstTime() const;
276 bool _getImpactData();
277 bool _getCollisionData();
278 bool _getExpiryData();
280 SGPropertyNode* _getProps() const;
282 const char* _getPath() const;
283 const char* _getSMPath() const;
284 const char* _getCallsign() const;
285 const char* _getTriggerNode() const;
286 const char* _getName() const;
287 const char* _getSubmodel() const;
290 // These are used in the Mach number calculations
293 double T; // temperature, degs farenheit
294 double p; // pressure lbs/sq ft
295 double a; // speed of sound at altitude (ft/s)
296 double Mach; // Mach number
298 static const double e;
299 static const double lbs_to_slugs;
301 inline double _getRange() { return range; };
302 inline double _getBearing() { return bearing; };
304 static bool _isNight();
306 string & getCallSign();
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 string& FGAIBase::getCallSign() {
371 inline void FGAIBase::setXoffset(double x) {
375 inline void FGAIBase::setYoffset(double y) {
379 inline void FGAIBase::setZoffset(double z) {
383 inline void FGAIBase::setPitchoffset(double p) {
387 inline void FGAIBase::setRolloffset(double r) {
391 inline void FGAIBase::setYawoffset(double y) {
395 inline void FGAIBase::setParentName(const string& p) {
399 inline void FGAIBase::setName(const string& n) {
403 inline void FGAIBase::setDie( bool die ) { delete_me = die; }
405 inline bool FGAIBase::getDie() { return delete_me; }
407 inline FGAIBase::object_type FGAIBase::getType() { return _otype; }
409 inline void FGAIBase::calcRangeBearing(double lat, double lon, double lat2, double lon2,
410 double &range, double &bearing) const
412 // calculate the bearing and range of the second pos from the first
413 double az2, distance;
414 geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
415 range = distance * SG_METER_TO_NM;
418 inline double FGAIBase::calcRelBearingDeg(double bearing, double heading){
419 double angle = bearing - heading;
420 SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
424 inline double FGAIBase::calcTrueBearingDeg(double bearing, double heading){
425 double angle = bearing + heading;
426 SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
430 inline double FGAIBase::calcRecipBearingDeg(double bearing){
431 double angle = bearing - 180;
432 SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
436 inline void FGAIBase::setMaxSpeed(double m) {
440 #endif // _FG_AIBASE_HXX