1 // FGAICarrier - FGAIShip-derived class creates an AI aircraft carrier
3 // Written by David Culp, started October 2004.
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., 675 Mass Ave, Cambridge, MA 02139, USA.
27 #include <simgear/math/point3d.hxx>
28 #include <simgear/math/sg_geodesy.hxx>
30 #include <Main/util.hxx>
31 #include <Main/viewer.hxx>
33 #include "AICarrier.hxx"
36 FGAICarrier::FGAICarrier(FGAIManager* mgr) : FGAIShip(mgr) {
39 FGAICarrier::~FGAICarrier() {
42 void FGAICarrier::setSolidObjects(const list<string>& so) {
46 void FGAICarrier::setWireObjects(const list<string>& wo) {
50 void FGAICarrier::setCatapultObjects(const list<string>& co) {
51 catapult_objects = co;
54 void FGAICarrier::getVelocityWrtEarth(sgVec3 v) {
55 sgCopyVec3(v, vel_wrt_earth );
58 void FGAICarrier::update(double dt) {
62 // Update the velocity information stored in those nodes.
63 double v_north = 0.51444444*speed*cos(hdg * SGD_DEGREES_TO_RADIANS);
64 double v_east = 0.51444444*speed*sin(hdg * SGD_DEGREES_TO_RADIANS);
66 double sin_lat = sin(pos.lat() * SGD_DEGREES_TO_RADIANS);
67 double cos_lat = cos(pos.lat() * SGD_DEGREES_TO_RADIANS);
68 double sin_lon = sin(pos.lon() * SGD_DEGREES_TO_RADIANS);
69 double cos_lon = cos(pos.lon() * SGD_DEGREES_TO_RADIANS);
70 sgSetVec3( vel_wrt_earth,
71 - cos_lon*sin_lat*v_north - sin_lon*v_east,
72 - sin_lon*sin_lat*v_north + cos_lon*v_east,
77 bool FGAICarrier::init() {
78 if (!FGAIShip::init())
81 // process the 3d model here
82 // mark some objects solid, mark the wires ...
84 // The model should be used for altitude computations.
85 // To avoid that every detail in a carrier 3D model will end into
86 // the aircraft local cache, only set the HOT traversal bit on
88 ssgEntity *sel = aip.getSceneGraph();
89 // Clear the HOT traversal flag
91 // Selectively set that flag again for wires/cats/solid objects.
92 // Attach a pointer to this carrier class to those objects.
93 mark_wires(sel, wire_objects);
94 mark_cat(sel, catapult_objects);
95 mark_solid(sel, solid_objects);
99 void FGAICarrier::bind() {
102 props->tie("controls/flols/source-lights",
103 SGRawValuePointer<int>(&source));
104 props->tie("controls/flols/distance-m",
105 SGRawValuePointer<double>(&dist));
106 props->setBoolValue("controls/flols/cut-lights", false);
107 props->setBoolValue("controls/flols/wave-off-lights", false);
108 props->setBoolValue("controls/flols/cond-datum-lights", true);
111 void FGAICarrier::unbind() {
113 props->untie("controls/flols/source-lights");
116 void FGAICarrier::mark_nohot(ssgEntity* e) {
117 if (e->isAKindOf(ssgTypeBranch())) {
118 ssgBranch* br = (ssgBranch*)e;
120 for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
123 br->clrTraversalMaskBits(SSGTRAV_HOT);
125 } else if (e->isAKindOf(ssgTypeLeaf())) {
127 e->clrTraversalMaskBits(SSGTRAV_HOT);
132 bool FGAICarrier::mark_wires(ssgEntity* e, const list<string>& wire_objects, bool mark) {
134 if (e->isAKindOf(ssgTypeBranch())) {
135 ssgBranch* br = (ssgBranch*)e;
138 list<string>::const_iterator it;
139 for (it = wire_objects.begin(); it != wire_objects.end(); ++it)
140 mark = mark || (e->getName() && (*it) == e->getName());
142 for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
143 found = mark_wires(kid, wire_objects, mark) || found;
146 br->setTraversalMaskBits(SSGTRAV_HOT);
148 } else if (e->isAKindOf(ssgTypeLeaf())) {
149 list<string>::const_iterator it;
150 for (it = wire_objects.begin(); it != wire_objects.end(); ++it) {
151 if (mark || (e->getName() && (*it) == e->getName())) {
152 e->setTraversalMaskBits(SSGTRAV_HOT);
153 ssgBase* ud = e->getUserData();
155 FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
157 SG_LOG(SG_GENERAL, SG_WARN,
158 "AICarrier: Carrier hardware gets marked twice!\n"
159 " You have propably a whole branch marked as"
160 " a wire which also includes other carrier hardware."
163 SG_LOG(SG_GENERAL, SG_ALERT,
164 "AICarrier: Found user data attached to a leaf node which "
165 "should be marked as a wire!\n ****Skipping!****");
168 e->setUserData( FGAICarrierHardware::newWire( this ) );
169 ssgLeaf *l = (ssgLeaf*)e;
170 if ( l->getNumLines() != 1 ) {
171 SG_LOG(SG_GENERAL, SG_ALERT,
172 "AICarrier: Found wires not modelled with exactly one line!");
182 bool FGAICarrier::mark_solid(ssgEntity* e, const list<string>& solid_objects, bool mark) {
184 if (e->isAKindOf(ssgTypeBranch())) {
185 ssgBranch* br = (ssgBranch*)e;
188 list<string>::const_iterator it;
189 for (it = solid_objects.begin(); it != solid_objects.end(); ++it)
190 mark = mark || (e->getName() && (*it) == e->getName());
192 for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
193 found = mark_solid(kid, solid_objects, mark) || found;
196 br->setTraversalMaskBits(SSGTRAV_HOT);
198 } else if (e->isAKindOf(ssgTypeLeaf())) {
199 list<string>::const_iterator it;
200 for (it = solid_objects.begin(); it != solid_objects.end(); ++it) {
201 if (mark || (e->getName() && (*it) == e->getName())) {
202 e->setTraversalMaskBits(SSGTRAV_HOT);
203 ssgBase* ud = e->getUserData();
205 FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
207 SG_LOG(SG_GENERAL, SG_WARN,
208 "AICarrier: Carrier hardware gets marked twice!\n"
209 " You have propably a whole branch marked solid"
210 " which also includes other carrier hardware."
213 SG_LOG(SG_GENERAL, SG_ALERT,
214 "AICarrier: Found user data attached to a leaf node which "
215 "should be marked solid!\n ****Skipping!****");
218 e->setUserData( FGAICarrierHardware::newSolid( this ) );
227 bool FGAICarrier::mark_cat(ssgEntity* e, const list<string>& cat_objects, bool mark) {
229 if (e->isAKindOf(ssgTypeBranch())) {
230 ssgBranch* br = (ssgBranch*)e;
233 list<string>::const_iterator it;
234 for (it = cat_objects.begin(); it != cat_objects.end(); ++it)
235 mark = mark || (e->getName() && (*it) == e->getName());
237 for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
238 found = mark_cat(kid, cat_objects, mark) || found;
241 br->setTraversalMaskBits(SSGTRAV_HOT);
243 } else if (e->isAKindOf(ssgTypeLeaf())) {
244 list<string>::const_iterator it;
245 for (it = cat_objects.begin(); it != cat_objects.end(); ++it) {
246 if (mark || (e->getName() && (*it) == e->getName())) {
247 e->setTraversalMaskBits(SSGTRAV_HOT);
248 ssgBase* ud = e->getUserData();
250 FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
252 SG_LOG(SG_GENERAL, SG_WARN,
253 "AICarrier: Carrier hardware gets marked twice!\n"
254 " You have propably a whole branch marked as"
255 " a catapult which also includes other carrier hardware."
258 SG_LOG(SG_GENERAL, SG_ALERT,
259 "AICarrier: Found user data attached to a leaf node which "
260 "should be marked as a catapult!\n ****Skipping!****");
263 e->setUserData( FGAICarrierHardware::newCatapult( this ) );
264 ssgLeaf *l = (ssgLeaf*)e;
265 if ( l->getNumLines() != 1 ) {
266 SG_LOG(SG_GENERAL, SG_ALERT,
267 "AICarrier: Found a cat not modelled with exactly "
270 // Now some special code to make sure the cat points in the right
271 // direction. The 0 index must be the backward end, the 1 index
273 // Forward is positive x-direction in our 3D model, also the model
274 // as such is flattened when it is loaded, so we do not need to
275 // care for transforms ...
277 l->getLine(0, v, v+1 );
279 for (int k=0; k<2; ++k)
280 sgCopyVec3( ends[k], l->getVertex( v[k] ) );
282 // When the 1 end is behind the 0 end, swap the coordinates.
283 if (ends[0][0] < ends[1][0]) {
284 sgCopyVec3( l->getVertex( v[0] ), ends[1] );
285 sgCopyVec3( l->getVertex( v[1] ), ends[0] );
297 void FGAICarrier::UpdateFlols( double dt) {
298 /* cout << "x_offset " << flols_x_offset
299 << " y_offset " << flols_y_offset
300 << " z_offset " << flols_z_offset << endl;
302 cout << "roll " << roll
303 << " heading " << hdg
304 << " pitch " << pitch << endl;
306 cout << "carrier lon " << pos[0]
308 << " alt " << pos[2] << endl;*/
310 // set the Flols intitial position to the carrier position
314 /* cout << "flols lon " << flolspos[0]
315 << " lat " << flolspos[1]
316 << " alt " << flolspos[2] << endl;*/
318 // set the offsets in metres
320 /* cout << "flols_x_offset " << flols_x_offset << endl
321 << "flols_y_offset " << flols_y_offset << endl
322 << "flols_z_offset " << flols_z_offset << endl;*/
324 in[0] = flols_x_offset;
325 in[1] = flols_y_offset;
326 in[2] = flols_z_offset;
328 // pre-process the trig functions
330 cosRx = cos(roll * SG_DEGREES_TO_RADIANS);
331 sinRx = sin(roll * SG_DEGREES_TO_RADIANS);
332 cosRy = cos(pitch * SG_DEGREES_TO_RADIANS);
333 sinRy = sin(pitch * SG_DEGREES_TO_RADIANS);
334 cosRz = cos(hdg * SG_DEGREES_TO_RADIANS);
335 sinRz = sin(hdg * SG_DEGREES_TO_RADIANS);
337 // set up the transform matrix
339 trans[0][0] = cosRy * cosRz;
340 trans[0][1] = -1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
341 trans[0][2] = sinRx * sinRz + cosRx * sinRy * cosRz;
343 trans[1][0] = cosRy * sinRz;
344 trans[1][1] = cosRx * cosRz + sinRx * sinRy * sinRz;
345 trans[1][2] = -1 * sinRx * cosRx + cosRx * sinRy * sinRz;
347 trans[2][0] = -1 * sinRy;
348 trans[2][1] = sinRx * cosRy;
349 trans[2][2] = cosRx * cosRy;
351 // multiply the input and transform matrices
353 out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
354 out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2];
355 out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2];
357 // convert meters to ft to degrees of latitude
358 out[0] = (out[0] * 3.28083989501) /(366468.96 - 3717.12 * cos(flolspos[0] * SG_DEGREES_TO_RADIANS));
360 // convert meters to ft to degrees of longitude
361 out[1] = (out[1] * 3.28083989501)/(365228.16 * cos(flolspos[1] * SG_DEGREES_TO_RADIANS));
363 //print out the result
364 /* cout << "lat adjust deg" << out[0]
365 << " lon adjust deg " << out[1]
366 << " alt adjust m " << out[2] << endl;*/
368 // adjust Flols position
369 flolspos[0] += out[0];
370 flolspos[1] += out[1];
371 flolspos[2] += out[2];
373 // convert flols position to cartesian co-ordinates
375 sgGeodToCart(flolspos[1] * SG_DEGREES_TO_RADIANS,
376 flolspos[0] * SG_DEGREES_TO_RADIANS,
377 flolspos[2] , flolsXYZ );
380 /* cout << "flols X " << flolsXYZ[0]
381 << " Y " << flolsXYZ[1]
382 << " Z " << flolsXYZ[2] << endl;
384 // check the conversion
386 sgCartToGeod(flolsXYZ, &lat, &lon, &alt);
388 cout << "flols check lon " << lon
390 << " alt " << alt << endl; */
392 //get the current position of the pilot's eyepoint (cartesian cordinates)
394 sgdCopyVec3( eyeXYZ, globals->get_current_view()->get_absolute_view_pos() );
396 /* cout << "Eye_X " << eyeXYZ[0]
397 << " Eye_Y " << eyeXYZ[1]
398 << " Eye_Z " << eyeXYZ[2] << endl; */
400 sgCartToGeod(eyeXYZ, &lat, &lon, &alt);
402 eyepos[0] = lon * SG_RADIANS_TO_DEGREES;
403 eyepos[1] = lat * SG_RADIANS_TO_DEGREES;
406 /* cout << "eye lon " << eyepos[0]
407 << " eye lat " << eyepos[1]
408 << " eye alt " << eyepos[2] << endl; */
410 //calculate the ditance from eye to flols
412 dist = sgdDistanceVec3( flolsXYZ, eyeXYZ );
414 //cout << "distance " << dist << endl;
417 // calculate height above FLOLS
418 double y = eyepos[2] - flolspos[2];
420 // calculate the angle from the flols to eye
421 // above the horizontal
424 angle = asin( y / dist );
429 angle *= SG_RADIANS_TO_DEGREES;
432 // cout << " height " << y << " angle " << angle ;
434 // set the value of source
436 if ( angle <= 4.35 && angle > 4.01 )
438 else if ( angle <= 4.01 && angle > 3.670 )
440 else if ( angle <= 3.670 && angle > 3.330 )
442 else if ( angle <= 3.330 && angle > 2.990 )
444 else if ( angle <= 2.990 && angle > 2.650 )
446 else if ( angle <= 2.650 )
451 // cout << " source " << source << endl;
456 int FGAICarrierHardware::unique_id = 1;