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->tie("controls/flols/angle-degs",
107 SGRawValuePointer<double>(&angle));
108 props->setBoolValue("controls/flols/cut-lights", false);
109 props->setBoolValue("controls/flols/wave-off-lights", false);
110 props->setBoolValue("controls/flols/cond-datum-lights", true);
111 props->setBoolValue("controls/crew", false);
114 void FGAICarrier::unbind() {
116 props->untie("controls/flols/source-lights");
117 props->untie("controls/flols/distance-m");
118 props->untie("controls/flols/angle-degs");
121 void FGAICarrier::mark_nohot(ssgEntity* e) {
122 if (e->isAKindOf(ssgTypeBranch())) {
123 ssgBranch* br = (ssgBranch*)e;
125 for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
128 br->clrTraversalMaskBits(SSGTRAV_HOT);
130 } else if (e->isAKindOf(ssgTypeLeaf())) {
132 e->clrTraversalMaskBits(SSGTRAV_HOT);
137 bool FGAICarrier::mark_wires(ssgEntity* e, const list<string>& wire_objects, bool mark) {
139 if (e->isAKindOf(ssgTypeBranch())) {
140 ssgBranch* br = (ssgBranch*)e;
143 list<string>::const_iterator it;
144 for (it = wire_objects.begin(); it != wire_objects.end(); ++it)
145 mark = mark || (e->getName() && (*it) == e->getName());
147 for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
148 found = mark_wires(kid, wire_objects, mark) || found;
151 br->setTraversalMaskBits(SSGTRAV_HOT);
153 } else if (e->isAKindOf(ssgTypeLeaf())) {
154 list<string>::const_iterator it;
155 for (it = wire_objects.begin(); it != wire_objects.end(); ++it) {
156 if (mark || (e->getName() && (*it) == e->getName())) {
157 e->setTraversalMaskBits(SSGTRAV_HOT);
158 ssgBase* ud = e->getUserData();
160 FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
162 SG_LOG(SG_GENERAL, SG_WARN,
163 "AICarrier: Carrier hardware gets marked twice!\n"
164 " You have propably a whole branch marked as"
165 " a wire which also includes other carrier hardware."
168 SG_LOG(SG_GENERAL, SG_ALERT,
169 "AICarrier: Found user data attached to a leaf node which "
170 "should be marked as a wire!\n ****Skipping!****");
173 e->setUserData( FGAICarrierHardware::newWire( this ) );
174 ssgLeaf *l = (ssgLeaf*)e;
175 if ( l->getNumLines() != 1 ) {
176 SG_LOG(SG_GENERAL, SG_ALERT,
177 "AICarrier: Found wires not modelled with exactly one line!");
187 bool FGAICarrier::mark_solid(ssgEntity* e, const list<string>& solid_objects, bool mark) {
189 if (e->isAKindOf(ssgTypeBranch())) {
190 ssgBranch* br = (ssgBranch*)e;
193 list<string>::const_iterator it;
194 for (it = solid_objects.begin(); it != solid_objects.end(); ++it)
195 mark = mark || (e->getName() && (*it) == e->getName());
197 for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
198 found = mark_solid(kid, solid_objects, mark) || found;
201 br->setTraversalMaskBits(SSGTRAV_HOT);
203 } else if (e->isAKindOf(ssgTypeLeaf())) {
204 list<string>::const_iterator it;
205 for (it = solid_objects.begin(); it != solid_objects.end(); ++it) {
206 if (mark || (e->getName() && (*it) == e->getName())) {
207 e->setTraversalMaskBits(SSGTRAV_HOT);
208 ssgBase* ud = e->getUserData();
210 FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
212 SG_LOG(SG_GENERAL, SG_WARN,
213 "AICarrier: Carrier hardware gets marked twice!\n"
214 " You have propably a whole branch marked solid"
215 " which also includes other carrier hardware."
218 SG_LOG(SG_GENERAL, SG_ALERT,
219 "AICarrier: Found user data attached to a leaf node which "
220 "should be marked solid!\n ****Skipping!****");
223 e->setUserData( FGAICarrierHardware::newSolid( this ) );
232 bool FGAICarrier::mark_cat(ssgEntity* e, const list<string>& cat_objects, bool mark) {
234 if (e->isAKindOf(ssgTypeBranch())) {
235 ssgBranch* br = (ssgBranch*)e;
238 list<string>::const_iterator it;
239 for (it = cat_objects.begin(); it != cat_objects.end(); ++it)
240 mark = mark || (e->getName() && (*it) == e->getName());
242 for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
243 found = mark_cat(kid, cat_objects, mark) || found;
246 br->setTraversalMaskBits(SSGTRAV_HOT);
248 } else if (e->isAKindOf(ssgTypeLeaf())) {
249 list<string>::const_iterator it;
250 for (it = cat_objects.begin(); it != cat_objects.end(); ++it) {
251 if (mark || (e->getName() && (*it) == e->getName())) {
252 e->setTraversalMaskBits(SSGTRAV_HOT);
253 ssgBase* ud = e->getUserData();
255 FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
257 SG_LOG(SG_GENERAL, SG_WARN,
258 "AICarrier: Carrier hardware gets marked twice!\n"
259 "You have probably a whole branch marked as"
260 "a catapult which also includes other carrier hardware."
263 SG_LOG(SG_GENERAL, SG_ALERT,
264 "AICarrier: Found user data attached to a leaf node which "
265 "should be marked as a catapult!\n ****Skipping!****");
268 e->setUserData( FGAICarrierHardware::newCatapult( this ) );
269 ssgLeaf *l = (ssgLeaf*)e;
270 if ( l->getNumLines() != 1 ) {
271 SG_LOG(SG_GENERAL, SG_ALERT,
272 "AICarrier: Found a cat not modelled with exactly "
275 // Now some special code to make sure the cat points in the right
276 // direction. The 0 index must be the backward end, the 1 index
278 // Forward is positive x-direction in our 3D model, also the model
279 // as such is flattened when it is loaded, so we do not need to
280 // care for transforms ...
282 l->getLine(0, v, v+1 );
284 for (int k=0; k<2; ++k)
285 sgCopyVec3( ends[k], l->getVertex( v[k] ) );
287 // When the 1 end is behind the 0 end, swap the coordinates.
288 if (ends[0][0] < ends[1][0]) {
289 sgCopyVec3( l->getVertex( v[0] ), ends[1] );
290 sgCopyVec3( l->getVertex( v[1] ), ends[0] );
302 void FGAICarrier::UpdateFlols( double dt) {
303 /* cout << "x_offset " << flols_x_offset
304 << " y_offset " << flols_y_offset
305 << " z_offset " << flols_z_offset << endl;
307 cout << "roll " << roll
308 << " heading " << hdg
309 << " pitch " << pitch << endl;
311 cout << "carrier lon " << pos[0]
313 << " alt " << pos[2] << endl;*/
315 // set the Flols intitial position to the carrier position
319 /* cout << "flols lon " << flolspos[0]
320 << " lat " << flolspos[1]
321 << " alt " << flolspos[2] << endl;*/
323 // set the offsets in metres
325 /* cout << "flols_x_offset " << flols_x_offset << endl
326 << "flols_y_offset " << flols_y_offset << endl
327 << "flols_z_offset " << flols_z_offset << endl;*/
329 in[0] = flols_x_offset;
330 in[1] = flols_y_offset;
331 in[2] = flols_z_offset;
333 // pre-process the trig functions
335 cosRx = cos(roll * SG_DEGREES_TO_RADIANS);
336 sinRx = sin(roll * SG_DEGREES_TO_RADIANS);
337 cosRy = cos(pitch * SG_DEGREES_TO_RADIANS);
338 sinRy = sin(pitch * SG_DEGREES_TO_RADIANS);
339 cosRz = cos(hdg * SG_DEGREES_TO_RADIANS);
340 sinRz = sin(hdg * SG_DEGREES_TO_RADIANS);
342 // set up the transform matrix
344 trans[0][0] = cosRy * cosRz;
345 trans[0][1] = -1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
346 trans[0][2] = sinRx * sinRz + cosRx * sinRy * cosRz;
348 trans[1][0] = cosRy * sinRz;
349 trans[1][1] = cosRx * cosRz + sinRx * sinRy * sinRz;
350 trans[1][2] = -1 * sinRx * cosRx + cosRx * sinRy * sinRz;
352 trans[2][0] = -1 * sinRy;
353 trans[2][1] = sinRx * cosRy;
354 trans[2][2] = cosRx * cosRy;
356 // multiply the input and transform matrices
358 out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
359 out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2];
360 out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2];
362 // convert meters to ft to degrees of latitude
363 out[0] = (out[0] * 3.28083989501) /(366468.96 - 3717.12 * cos(flolspos[0] * SG_DEGREES_TO_RADIANS));
365 // convert meters to ft to degrees of longitude
366 out[1] = (out[1] * 3.28083989501)/(365228.16 * cos(flolspos[1] * SG_DEGREES_TO_RADIANS));
368 //print out the result
369 /* cout << "lat adjust deg" << out[0]
370 << " lon adjust deg " << out[1]
371 << " alt adjust m " << out[2] << endl;*/
373 // adjust Flols position
374 flolspos[0] += out[0];
375 flolspos[1] += out[1];
376 flolspos[2] += out[2];
378 // convert flols position to cartesian co-ordinates
380 sgGeodToCart(flolspos[1] * SG_DEGREES_TO_RADIANS,
381 flolspos[0] * SG_DEGREES_TO_RADIANS,
382 flolspos[2] , flolsXYZ );
385 /* cout << "flols X " << flolsXYZ[0]
386 << " Y " << flolsXYZ[1]
387 << " Z " << flolsXYZ[2] << endl;
389 // check the conversion
391 sgCartToGeod(flolsXYZ, &lat, &lon, &alt);
393 cout << "flols check lon " << lon
395 << " alt " << alt << endl; */
397 //get the current position of the pilot's eyepoint (cartesian cordinates)
399 sgdCopyVec3( eyeXYZ, globals->get_current_view()->get_absolute_view_pos() );
401 /* cout << "Eye_X " << eyeXYZ[0]
402 << " Eye_Y " << eyeXYZ[1]
403 << " Eye_Z " << eyeXYZ[2] << endl; */
405 sgCartToGeod(eyeXYZ, &lat, &lon, &alt);
407 eyepos[0] = lon * SG_RADIANS_TO_DEGREES;
408 eyepos[1] = lat * SG_RADIANS_TO_DEGREES;
411 /* cout << "eye lon " << eyepos[0]
412 << " eye lat " << eyepos[1]
413 << " eye alt " << eyepos[2] << endl; */
415 //calculate the ditance from eye to flols
417 dist = sgdDistanceVec3( flolsXYZ, eyeXYZ );
419 //apply an index error
423 //cout << "distance " << dist << endl;
426 // calculate height above FLOLS
427 double y = eyepos[2] - flolspos[2];
429 // calculate the angle from the flols to eye
430 // above the horizontal
434 angle = asin( y / dist );
439 angle *= SG_RADIANS_TO_DEGREES;
442 // cout << " height " << y << " angle " << angle ;
444 // set the value of source
446 if ( angle <= 4.35 && angle > 4.01 )
448 else if ( angle <= 4.01 && angle > 3.670 )
450 else if ( angle <= 3.670 && angle > 3.330 )
452 else if ( angle <= 3.330 && angle > 2.990 )
454 else if ( angle <= 2.990 && angle > 2.650 )
456 else if ( angle <= 2.650 )
461 // cout << " source " << source << endl;
466 int FGAICarrierHardware::unique_id = 1;