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/scene/model/placement.hxx>
27 #include <simgear/scene/model/modellib.hxx>
28 #include <simgear/misc/sg_path.hxx>
29 #include <simgear/structure/SGSharedPtr.hxx>
30 #include <simgear/structure/SGReferenced.hxx>
31 #include <simgear/props/tiedpropertylist.hxx>
32 #include <simgear/sg_inlines.h>
34 #include <simgear/math/sg_geodesy.hxx>
36 #include <Main/fg_props.hxx>
45 class FGNasalModelDataProxy;
46 class FGAIModelData; // defined below
49 class FGAIBase : public SGReferenced {
52 enum object_type { otNull = 0, otAircraft, otShip, otCarrier, otBallistic,
53 otRocket, otStorm, otThermal, otStatic, otWingman, otGroundVehicle,
54 otEscort, otMultiplayer,
55 MAX_OBJECTS }; // Needs to be last!!!
57 FGAIBase(object_type ot, bool enableHot);
60 virtual void readFromScenario(SGPropertyNode* scFileNode);
62 virtual bool init(bool search_in_AI_path=false);
63 virtual void initModel(osg::Node *node);
64 virtual void update(double dt);
66 virtual void unbind();
67 virtual void reinit() {}
70 void setManager(FGAIManager* mgr, SGPropertyNode* p);
71 void setPath( const char* model );
72 void setSMPath( const string& p );
73 void setCallSign(const string& );
74 void setSpeed( double speed_KTAS );
75 void setAltitude( double altitude_ft );
76 void setAltitudeAGL( double altitude_agl_ft );
77 void setHeading( double heading );
78 void setLatitude( double latitude );
79 void setLongitude( double longitude );
80 void setBank( double bank );
81 void setPitch( double newpitch );
82 void setRadius ( double radius );
83 void setXoffset( double x_offset );
84 void setYoffset( double y_offset );
85 void setZoffset( double z_offset );
86 void setPitchoffset( double x_offset );
87 void setRolloffset( double y_offset );
88 void setYawoffset( double z_offset );
89 void setServiceable ( bool serviceable );
90 void setDie( bool die );
91 void setCollisionData( bool i, double lat, double lon, double elev );
92 void setImpactData( bool d );
93 void setImpactLat( double lat );
94 void setImpactLon( double lon );
95 void setImpactElev( double e );
96 void setParentName(const string& p);
97 void setName(const string& n);
98 void setMaxSpeed(double kts);
100 void calcRangeBearing(double lat, double lon, double lat2, double lon2,
101 double &range, double &bearing) const;
102 double calcRelBearingDeg(double bearing, double heading);
103 double calcTrueBearingDeg(double bearing, double heading);
104 double calcRecipBearingDeg(double bearing);
106 bool setParentNode();
109 int _getSubID() const;
113 SGVec3d getCartPosAt(const SGVec3d& off) const;
114 SGVec3d getCartPos() const;
116 bool getGroundElevationM(const SGGeod& pos, double& elev,
117 const SGMaterial** material) const;
121 double _getCartPosX() const;
122 double _getCartPosY() const;
123 double _getCartPosZ() const;
129 double _pitch_offset;
146 * Tied-properties helper, record nodes which are tied for easy un-tie-ing
148 template <typename T>
149 void tie(const char* aRelPath, const SGRawValue<T>& aRawValue)
151 _tiedProperties.Tie(props->getNode(aRelPath, true), aRawValue);
154 simgear::TiedPropertyList _tiedProperties;
155 SGPropertyNode_ptr _selected_ac;
156 SGPropertyNode_ptr props;
157 SGPropertyNode_ptr trigger_node;
158 SGPropertyNode_ptr model_removed; // where to report model removal
159 FGAIManager* manager;
161 // these describe the model's actual state
162 SGGeod pos; // WGS84 lat & lon in degrees, elev above sea-level in meters
163 double hdg; // True heading in degrees
164 double roll; // degrees, left is negative
165 double pitch; // degrees, nose-down is negative
166 double speed; // knots true airspeed
167 double altitude_ft; // feet above sea level
168 double vs; // vertical speed, feet per minute
169 double speed_north_deg_sec;
170 double speed_east_deg_sec;
171 double turn_radius_ft; // turn radius ft at 15 kts rudder angle 15 degrees
172 double altitude_agl_ft;
174 double ft_per_deg_lon;
175 double ft_per_deg_lat;
177 // these describe the model's desired state
178 double tgt_heading; // target heading, degrees true
179 double tgt_altitude_ft; // target altitude, *feet* above sea level
180 double tgt_speed; // target speed, KTAS
186 // these describe radar information for the user
187 bool in_range; // true if in range of the radar, otherwise false
188 double bearing; // true bearing from user to this model
189 double elevation; // elevation in degrees from user to this model
190 double range; // range from user to this model, nm
191 double rdot; // range rate, in knots
192 double horiz_offset; // look left/right from user to me, deg
193 double vert_offset; // look up/down from user to me, deg
194 double x_shift; // value used by radar display instrument
195 double y_shift; // value used by radar display instrument
196 double rotation; // value used by radar display instrument
197 double ht_diff; // value used by radar display instrument
199 string model_path; //Path to the 3D model
200 SGModelPlacement aip;
213 bool _impact_reported;
214 bool _collision_reported;
215 bool _expiry_reported;
221 double _impact_pitch;
223 double _impact_speed;
226 void CalculateMach();
227 double UpdateRadar(FGAIManager* manager);
231 static int _newAIModelID();
237 osg::ref_ptr<osg::LOD> _model; //The 3D model LOD object
239 osg::ref_ptr<FGAIModelData> _modeldata;
241 SGSharedPtr<FGFX> _fx;
244 object_type getType();
246 virtual const char* getTypeString(void) const { return "null"; }
248 bool isa( object_type otype );
250 void _setVS_fps( double _vs );
251 void _setAltitude( double _alt );
252 void _setLongitude( double longitude );
253 void _setLatitude ( double latitude );
254 void _setSubID( int s );
257 double _getAltitudeAGL(SGGeod inpos, double start);
259 double _getVS_fps() const;
260 double _getAltitude() const;
261 double _getLongitude() const;
262 double _getLatitude() const;
263 double _getElevationFt() const;
264 double _getRdot() const;
265 double _getH_offset() const;
266 double _getV_offset() const;
267 double _getX_shift() const;
268 double _getY_shift() const;
269 double _getRotation() const;
270 double _getSpeed() const;
271 double _getRoll() const;
272 double _getPitch() const;
273 double _getHeading() const;
274 double _get_speed_east_fps() const;
275 double _get_speed_north_fps() const;
276 double _get_SubPath() const;
277 double _getImpactLat() const;
278 double _getImpactLon() const;
279 double _getImpactElevFt() const;
280 double _getImpactHdg() const;
281 double _getImpactPitch() const;
282 double _getImpactRoll() const;
283 double _getImpactSpeed() const;
284 double _getXOffset() const;
285 double _getYOffset() const;
286 double _getZOffset() const;
287 //unsigned int _getCount() const;
289 bool _getServiceable() const;
290 bool _getFirstTime() const;
292 bool _getImpactData();
293 bool _getCollisionData();
294 bool _getExpiryData();
296 SGPropertyNode* _getProps() const;
298 const char* _getPath() const;
299 const char* _getSMPath() const;
300 const char* _getCallsign() const;
301 const char* _getTriggerNode() const;
302 const char* _getName() const;
303 const char* _getSubmodel() const;
306 // These are used in the Mach number calculations
309 double T; // temperature, degs farenheit
310 double p; // pressure lbs/sq ft
311 double a; // speed of sound at altitude (ft/s)
312 double Mach; // Mach number
314 static const double e;
315 static const double lbs_to_slugs;
317 inline double _getRange() { return range; };
318 inline double _getBearing() { return bearing; };
320 static bool _isNight();
322 string & getCallSign();
325 inline void FGAIBase::setManager(FGAIManager* mgr, SGPropertyNode* p) {
330 inline void FGAIBase::setPath(const char* model ) {
331 model_path.append(model);
334 inline void FGAIBase::setSMPath(const string& p) {
338 inline void FGAIBase::setServiceable(bool s) {
342 inline void FGAIBase::setSpeed( double speed_KTAS ) {
343 speed = tgt_speed = speed_KTAS;
346 inline void FGAIBase::setRadius( double radius ) {
347 turn_radius_ft = radius;
350 inline void FGAIBase::setHeading( double heading ) {
351 hdg = tgt_heading = heading;
354 inline void FGAIBase::setAltitude( double alt_ft ) {
355 altitude_ft = tgt_altitude_ft = alt_ft;
356 pos.setElevationFt(altitude_ft);
359 inline void FGAIBase::setAltitudeAGL( double alt_ft ) {
360 altitude_agl_ft = alt_ft;
363 inline void FGAIBase::setBank( double bank ) {
364 roll = tgt_roll = bank;
368 inline void FGAIBase::setPitch( double newpitch ) {
369 pitch = tgt_pitch = newpitch;
372 inline void FGAIBase::setLongitude( double longitude ) {
373 pos.setLongitudeDeg( longitude );
376 inline void FGAIBase::setLatitude ( double latitude ) {
377 pos.setLatitudeDeg( latitude );
380 inline void FGAIBase::setCallSign(const string& s) {
383 inline string& FGAIBase::getCallSign() {
387 inline void FGAIBase::setXoffset(double x) {
391 inline void FGAIBase::setYoffset(double y) {
395 inline void FGAIBase::setZoffset(double z) {
399 inline void FGAIBase::setPitchoffset(double p) {
403 inline void FGAIBase::setRolloffset(double r) {
407 inline void FGAIBase::setYawoffset(double y) {
411 inline void FGAIBase::setParentName(const string& p) {
415 inline void FGAIBase::setName(const string& n) {
419 inline void FGAIBase::setDie( bool die ) { delete_me = die; }
421 inline bool FGAIBase::getDie() { return delete_me; }
423 inline FGAIBase::object_type FGAIBase::getType() { return _otype; }
425 inline void FGAIBase::calcRangeBearing(double lat, double lon, double lat2, double lon2,
426 double &range, double &bearing) const
428 // calculate the bearing and range of the second pos from the first
429 double az2, distance;
430 geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
431 range = distance * SG_METER_TO_NM;
434 inline double FGAIBase::calcRelBearingDeg(double bearing, double heading){
435 double angle = bearing - heading;
436 SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
440 inline double FGAIBase::calcTrueBearingDeg(double bearing, double heading){
441 double angle = bearing + heading;
442 SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
446 inline double FGAIBase::calcRecipBearingDeg(double bearing){
447 double angle = bearing - 180;
448 SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
452 inline void FGAIBase::setMaxSpeed(double m) {
457 class FGAIModelData : public simgear::SGModelData {
459 FGAIModelData(SGPropertyNode *root = 0);
462 /** osg callback, thread-safe */
463 void modelLoaded(const string& path, SGPropertyNode *prop, osg::Node *n);
465 /** init hook to be called after model is loaded.
466 * Not thread-safe. Call from main thread only. */
467 void init(void) { _initialized = true; }
469 bool needInitilization(void) { return _ready && !_initialized;}
470 bool isInitialized(void) { return _initialized;}
471 inline std::string& get_sound_path() { return _fxpath;}
474 FGNasalModelDataProxy *_nasal;
480 #endif // _FG_AIBASE_HXX