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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
28 #include <simgear/sg_inlines.h>
29 #include <simgear/math/SGMath.hxx>
30 #include <simgear/math/sg_geodesy.hxx>
33 #include <Main/util.hxx>
34 #include <Main/viewer.hxx>
36 #include "AICarrier.hxx"
38 FGAICarrier::FGAICarrier() : FGAIShip(otCarrier) {
41 FGAICarrier::~FGAICarrier() {
44 void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) {
48 FGAIShip::readFromScenario(scFileNode);
50 setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
51 setSign(scFileNode->getStringValue("pennant-number"));
52 setWind_from_east(scFileNode->getDoubleValue("wind_from_east", 0));
53 setWind_from_north(scFileNode->getDoubleValue("wind_from_north", 0));
54 setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID", "029Y"));
55 setMaxLat(scFileNode->getDoubleValue("max-lat", 0));
56 setMinLat(scFileNode->getDoubleValue("min-lat", 0));
57 setMaxLong(scFileNode->getDoubleValue("max-long", 0));
58 setMinLong(scFileNode->getDoubleValue("min-long", 0));
59 setMPControl(scFileNode->getBoolValue("mp-control", false));
60 setAIControl(scFileNode->getBoolValue("ai-control", false));
61 setCallSign(scFileNode->getStringValue("callsign", ""));
64 SGPropertyNode* flols = scFileNode->getChild("flols-pos");
66 // Transform to the right coordinate frame, configuration is done in
67 // the usual x-back, y-right, z-up coordinates, computations
68 // in the simulation usual body x-forward, y-right, z-down coordinates
69 flols_off(0) = - flols->getDoubleValue("x-offset-m", 0);
70 flols_off(1) = flols->getDoubleValue("y-offset-m", 0);
71 flols_off(2) = - flols->getDoubleValue("z-offset-m", 0);
73 flols_off = SGVec3d::zeros();
75 std::vector<SGPropertyNode_ptr> props = scFileNode->getChildren("parking-pos");
76 std::vector<SGPropertyNode_ptr>::const_iterator it;
77 for (it = props.begin(); it != props.end(); ++it) {
78 string name = (*it)->getStringValue("name", "unnamed");
79 // Transform to the right coordinate frame, configuration is done in
80 // the usual x-back, y-right, z-up coordinates, computations
81 // in the simulation usual body x-forward, y-right, z-down coordinates
82 double offset_x = -(*it)->getDoubleValue("x-offset-m", 0);
83 double offset_y = (*it)->getDoubleValue("y-offset-m", 0);
84 double offset_z = -(*it)->getDoubleValue("z-offset-m", 0);
85 double hd = (*it)->getDoubleValue("heading-offset-deg", 0);
86 ParkPosition pp(name, SGVec3d(offset_x, offset_y, offset_z), hd);
87 ppositions.push_back(pp);
91 void FGAICarrier::setWind_from_east(double fps) {
95 void FGAICarrier::setWind_from_north(double fps) {
96 wind_from_north = fps;
99 void FGAICarrier::setMaxLat(double deg) {
103 void FGAICarrier::setMinLat(double deg) {
107 void FGAICarrier::setMaxLong(double deg) {
108 max_long = fabs(deg);
111 void FGAICarrier::setMinLong(double deg) {
112 min_long = fabs(deg);
115 void FGAICarrier::setSign(const string& s) {
119 void FGAICarrier::setTACANChannelID(const string& id) {
120 TACAN_channel_id = id;
123 void FGAICarrier::setMPControl(bool c) {
127 void FGAICarrier::setAIControl(bool c) {
131 void FGAICarrier::update(double dt) {
132 // Now update the position and heading. This will compute new hdg and
133 // roll values required for the rotation speed computation.
134 FGAIShip::update(dt);
136 //automatic turn into wind with a target wind of 25 kts otd
137 //SG_LOG(SG_GENERAL, SG_ALERT, "AICarrier: MPControl " << MPControl << " AIControl " << AIControl);
138 if (!MPControl && AIControl){
140 if(turn_to_launch_hdg){
142 } else if(turn_to_recovery_hdg ){
144 } else if(OutsideBox() || returning ) {// check that the carrier is inside
145 ReturnToBox(); // the operating box,
151 FGAIShip::TurnTo(tgt_heading);
152 FGAIShip::AccelTo(tgt_speed);
156 UpdateElevator(dt, transition_time);
157 UpdateJBD(dt, jbd_transition_time);
159 // Transform that one to the horizontal local coordinate system.
160 SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
161 // The orientation of the carrier wrt the horizontal local frame
162 SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
163 // and postrotate the orientation of the AIModel wrt the horizontal
165 SGQuatd ec2body = ec2hl*hl2body;
166 // The cartesian position of the carrier in the wgs84 world
167 SGVec3d cartPos = SGVec3d::fromGeod(pos);
169 // The position of the eyepoint - at least near that ...
170 SGVec3d eyePos(globals->get_current_view()->get_view_pos());
171 // Add the position offset of the AIModel to gain the earth
173 SGVec3d eyeWrtCarrier = eyePos - cartPos;
174 // rotate the eyepoint wrt carrier vector into the carriers frame
175 eyeWrtCarrier = ec2body.transform(eyeWrtCarrier);
176 // the eyepoints vector wrt the flols position
177 SGVec3d eyeWrtFlols = eyeWrtCarrier - flols_off;
179 // the distance from the eyepoint to the flols
180 dist = norm(eyeWrtFlols);
182 // now the angle, positive angles are upwards
183 if (fabs(dist) < SGLimits<float>::min()) {
186 double sAngle = -eyeWrtFlols(2)/dist;
187 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
188 angle = SGMiscd::rad2deg(asin(sAngle));
191 // set the value of source
192 if ( angle <= 4.35 && angle > 4.01 )
194 else if ( angle <= 4.01 && angle > 3.670 )
196 else if ( angle <= 3.670 && angle > 3.330 )
198 else if ( angle <= 3.330 && angle > 2.990 )
200 else if ( angle <= 2.990 && angle > 2.650 )
202 else if ( angle <= 2.650 )
208 bool FGAICarrier::init(bool search_in_AI_path) {
209 if (!FGAIShip::init(search_in_AI_path))
212 _longitude_node = fgGetNode("/position/longitude-deg", true);
213 _latitude_node = fgGetNode("/position/latitude-deg", true);
214 _altitude_node = fgGetNode("/position/altitude-ft", true);
216 _launchbar_state_node = fgGetNode("/gear/launchbar/state", true);
218 _surface_wind_from_deg_node =
219 fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
220 _surface_wind_speed_node =
221 fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
224 turn_to_launch_hdg = false;
225 turn_to_recovery_hdg = false;
226 turn_to_base_course = true;
234 pos_norm = raw_pos_norm = 0;
236 transition_time = 150;
237 time_constant = 0.005;
238 jbd_pos_norm = raw_jbd_pos_norm = 0;
240 jbd_transition_time = 3;
241 jbd_time_constant = 0.1;
245 void FGAICarrier::bind() {
248 props->untie("velocities/true-airspeed-kt");
250 props->tie("controls/flols/source-lights",
251 SGRawValuePointer<int>(&source));
252 props->tie("controls/flols/distance-m",
253 SGRawValuePointer<double>(&dist));
254 props->tie("controls/flols/angle-degs",
255 SGRawValuePointer<double>(&angle));
256 props->tie("controls/turn-to-launch-hdg",
257 SGRawValuePointer<bool>(&turn_to_launch_hdg));
258 props->tie("controls/in-to-wind",
259 SGRawValuePointer<bool>(&turn_to_launch_hdg));
260 props->tie("controls/base-course-deg",
261 SGRawValuePointer<double>(&base_course));
262 props->tie("controls/base-speed-kts",
263 SGRawValuePointer<double>(&base_speed));
264 props->tie("controls/start-pos-lat-deg",
265 SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLatitudeDeg));
266 props->tie("controls/start-pos-long-deg",
267 SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLongitudeDeg));
268 props->tie("controls/mp-control",
269 SGRawValuePointer<bool>(&MPControl));
270 props->tie("controls/ai-control",
271 SGRawValuePointer<bool>(&AIControl));
272 props->tie("environment/surface-wind-speed-true-kts",
273 SGRawValuePointer<double>(&wind_speed_kts));
274 props->tie("environment/surface-wind-from-true-degs",
275 SGRawValuePointer<double>(&wind_from_deg));
276 props->tie("environment/rel-wind-from-degs",
277 SGRawValuePointer<double>(&rel_wind_from_deg));
278 props->tie("environment/rel-wind-from-carrier-hdg-degs",
279 SGRawValuePointer<double>(&rel_wind));
280 props->tie("environment/rel-wind-speed-kts",
281 SGRawValuePointer<double>(&rel_wind_speed_kts));
282 props->tie("environment/in-to-wind",
283 SGRawValuePointer<bool>(&in_to_wind));
284 //props->tie("controls/flols/wave-off-lights",
285 // SGRawValuePointer<bool>(&wave_off_lights));
286 props->tie("controls/elevators",
287 SGRawValuePointer<bool>(&elevators));
288 props->tie("surface-positions/elevators-pos-norm",
289 SGRawValuePointer<double>(&pos_norm));
290 props->tie("controls/constants/elevators/trans-time-s",
291 SGRawValuePointer<double>(&transition_time));
292 props->tie("controls/constants/elevators/time-constant",
293 SGRawValuePointer<double>(&time_constant));
294 props->tie("controls/jbd",
295 SGRawValuePointer<bool>(&jbd));
296 props->tie("surface-positions/jbd-pos-norm",
297 SGRawValuePointer<double>(&jbd_pos_norm));
298 props->tie("controls/constants/jbd/trans-time-s",
299 SGRawValuePointer<double>(&jbd_transition_time));
300 props->tie("controls/constants/jbd/time-constant",
301 SGRawValuePointer<double>(&jbd_time_constant));
302 props->tie("controls/turn-to-recovery-hdg",
303 SGRawValuePointer<bool>(&turn_to_recovery_hdg));
304 props->tie("controls/turn-to-base-course",
305 SGRawValuePointer<bool>(&turn_to_base_course));
308 props->setBoolValue("controls/flols/cut-lights", false);
309 props->setBoolValue("controls/flols/wave-off-lights", false);
310 props->setBoolValue("controls/flols/cond-datum-lights", true);
311 props->setBoolValue("controls/crew", false);
312 props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
313 props->setStringValue("sign", sign.c_str());
314 props->setBoolValue("controls/lighting/deck-lights", false);
315 props->setDoubleValue("controls/lighting/flood-lights-red-norm", 0);
319 void FGAICarrier::unbind() {
322 props->untie("velocities/true-airspeed-kt");
323 props->untie("controls/flols/source-lights");
324 props->untie("controls/flols/distance-m");
325 props->untie("controls/flols/angle-degs");
326 props->untie("controls/turn-to-launch-hdg");
327 props->untie("environment/wind-speed-true-kts");
328 props->untie("environment/wind-from-true-degs");
329 props->untie("environment/rel-wind-from-degs");
330 props->untie("environment/rel-wind-speed-kts");
331 props->untie("environment/in-to-wind");
332 //props->untie("controls/flols/wave-off-lights");
333 props->untie("controls/elevators");
334 props->untie("surface-positions/elevators-pos-norm");
335 props->untie("controls/constants/elevators/trans-time-secs");
336 props->untie("controls/constants/elevators/time-constant");
337 props->untie("controls/jbd");
338 props->untie("surface-positions/jbd/pos-norm");
339 props->untie("controls/constants/jbd/trans-time-s");
340 props->untie("controls/jbd-time-constant");
341 props->untie("controls/mp-control");
342 props->untie("controls/ai-control");
343 props->untie("controls/turn-to-recovery-hdg");
344 props->untie("controls/turn-to-base-course");
348 bool FGAICarrier::getParkPosition(const string& id, SGGeod& geodPos,
349 double& hdng, SGVec3d& uvw)
352 // FIXME: does not yet cover rotation speeds.
353 list<ParkPosition>::iterator it = ppositions.begin();
354 while (it != ppositions.end()) {
355 // Take either the specified one or the first one ...
356 if ((*it).name == id || id.empty()) {
357 ParkPosition ppos = *it;
358 SGVec3d cartPos = getCartPosAt(ppos.offset);
359 geodPos = SGGeod::fromCart(cartPos);
360 hdng = hdg + ppos.heading_deg;
361 double shdng = sin(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
362 double chdng = cos(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
363 double speed_fps = speed*1.6878099;
364 uvw = SGVec3d(chdng*speed_fps, shdng*speed_fps, 0);
373 // find relative wind
374 void FGAICarrier::UpdateWind( double dt) {
376 //get the surface wind speed and direction
377 wind_from_deg = _surface_wind_from_deg_node->getDoubleValue();
378 wind_speed_kts = _surface_wind_speed_node->getDoubleValue();
380 //calculate the surface wind speed north and east in kts
381 double wind_speed_from_north_kts = cos( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
382 double wind_speed_from_east_kts = sin( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
384 //calculate the carrier speed north and east in kts
385 double speed_north_kts = cos( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
386 double speed_east_kts = sin( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
388 //calculate the relative wind speed north and east in kts
389 double rel_wind_speed_from_east_kts = wind_speed_from_east_kts + speed_east_kts;
390 double rel_wind_speed_from_north_kts = wind_speed_from_north_kts + speed_north_kts;
392 //combine relative speeds north and east to get relative windspeed in kts
393 rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts)
394 + (rel_wind_speed_from_north_kts * rel_wind_speed_from_north_kts));
396 //calculate the relative wind direction
397 rel_wind_from_deg = atan2(rel_wind_speed_from_east_kts, rel_wind_speed_from_north_kts)
398 * SG_RADIANS_TO_DEGREES;
401 rel_wind = rel_wind_from_deg - hdg;
402 SG_NORMALIZE_RANGE(rel_wind, -180.0, 180.0);
404 //set in to wind property
407 //switch the wave-off lights
409 // wave_off_lights = false;
411 // wave_off_lights = true;
413 // cout << "rel wind: " << rel_wind << endl;
418 void FGAICarrier::TurnToLaunch(){
420 // calculate tgt heading
421 if (wind_speed_kts < 3){
422 tgt_heading = base_course;
424 tgt_heading = wind_from_deg;
427 //calculate tgt speed
428 double tgt_speed = 25 - wind_speed_kts;
433 FGAIShip::TurnTo(tgt_heading);
434 FGAIShip::AccelTo(tgt_speed);
438 void FGAICarrier::TurnToRecover(){
440 //these are the rules for adjusting heading to provide a relative wind
441 //down the angled flightdeck
443 if (wind_speed_kts < 3){
444 tgt_heading = base_course + 60;
445 } else if (rel_wind < -9 && rel_wind >= -180){
446 tgt_heading = wind_from_deg;
447 } else if (rel_wind > -7 && rel_wind < 45){
448 tgt_heading = wind_from_deg + 60;
449 } else if (rel_wind >=45 && rel_wind < 180){
450 tgt_heading = wind_from_deg + 45;
454 SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
456 //calculate tgt speed
457 double tgt_speed = 26 - wind_speed_kts;
462 FGAIShip::TurnTo(tgt_heading);
463 FGAIShip::AccelTo(tgt_speed);
466 void FGAICarrier::TurnToBase(){
469 FGAIShip::TurnTo(base_course);
470 FGAIShip::AccelTo(base_speed);
475 void FGAICarrier::ReturnToBox(){
476 double course, distance, az2;
478 //calculate the bearing and range of the initial position from the carrier
479 geo_inverse_wgs_84(pos, mOpBoxPos, &course, &az2, &distance);
481 distance *= SG_METER_TO_NM;
483 //cout << "return course: " << course << " distance: " << distance << endl;
485 FGAIShip::TurnTo(course);
486 FGAIShip::AccelTo(base_speed);
493 } // end turn to base
496 bool FGAICarrier::OutsideBox() { //returns true if the carrier is outside operating box
498 if ( max_lat == 0 && min_lat == 0 && max_long == 0 && min_long == 0) {
499 SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: No Operating Box defined" );
503 if (mOpBoxPos.getLatitudeDeg() >= 0) { //northern hemisphere
504 if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + max_lat)
507 if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - min_lat)
510 } else { //southern hemisphere
511 if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - max_lat)
514 if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + min_lat)
518 if (mOpBoxPos.getLongitudeDeg() >=0) { //eastern hemisphere
519 if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + max_long)
522 if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - min_long)
525 } else { //western hemisphere
526 if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - max_long)
529 if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + min_long)
533 SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: Inside Operating Box" );
539 bool FGAICarrier::InToWind() {
542 if ( fabs(rel_wind) < 10 ){
550 void FGAICarrier::UpdateElevator(double dt, double transition_time) {
554 if ((elevators && pos_norm >= 1 ) || (!elevators && pos_norm <= 0 ))
557 // move the elevators
559 step = dt/transition_time;
563 step = -dt/transition_time;
567 // assume a linear relationship
568 raw_pos_norm += step;
571 pos_norm = (raw_pos_norm * time_constant) + (pos_norm * (1 - time_constant));
573 //sanitise the output
574 if (raw_pos_norm >= 1) {
576 } else if (raw_pos_norm <= 0) {
581 } // end UpdateElevator
583 void FGAICarrier::UpdateJBD(double dt, double jbd_transition_time) {
585 string launchbar_state = _launchbar_state_node->getStringValue();
588 if (launchbar_state == "Engaged"){
594 if (( jbd && jbd_pos_norm >= 1 ) || ( !jbd && jbd_pos_norm <= 0 )){
600 step = dt/jbd_transition_time;
604 step = -dt/jbd_transition_time;
609 // assume a linear relationship
610 raw_jbd_pos_norm += step;
613 jbd_pos_norm = (raw_jbd_pos_norm * jbd_time_constant) + (jbd_pos_norm * (1 - jbd_time_constant));
615 //sanitise the output
616 if (jbd_pos_norm >= 1) {
618 } else if (jbd_pos_norm <= 0) {