1 // FGAIEscort - FGAIShip-derived class creates an AI Ground Vehicle
2 // by adding a ground following utility
4 // Written by Vivian Meazza, started August 2009.
5 // - vivian.meazza at lineone.net
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
29 #include <simgear/sg_inlines.h>
30 #include <simgear/math/SGMath.hxx>
31 #include <simgear/math/sg_geodesy.hxx>
34 #include <Main/util.hxx>
35 #include <Main/viewer.hxx>
37 #include <Scenery/scenery.hxx>
38 #include <Scenery/tilemgr.hxx>
40 #include "AIEscort.hxx"
44 FGAIEscort::FGAIEscort() :
66 FGAIEscort::~FGAIEscort() {}
68 void FGAIEscort::readFromScenario(SGPropertyNode* scFileNode) {
72 FGAIShip::readFromScenario(scFileNode);
74 setName(scFileNode->getStringValue("name", "Escort"));
75 setSMPath(scFileNode->getStringValue("submodel-path", ""));
76 setStnRange(scFileNode->getDoubleValue("station/range-nm", 1));
77 setStnBrg(scFileNode->getDoubleValue("station/brg-deg", 0.0));
78 setStnLimit(scFileNode->getDoubleValue("station/range-limit-nm", 0.2));
79 setStnAngleLimit(scFileNode->getDoubleValue("station/angle-limit-deg", 15.0));
80 setStnSpeed(scFileNode->getDoubleValue("station/speed-kts", 2.5));
81 setStnPatrol(scFileNode->getBoolValue("station/patrol", false));
82 setStnHtFt(scFileNode->getDoubleValue("station/height-ft", 0.0));
83 setStnDegTrue(scFileNode->getBoolValue("station/deg-true", false));
84 setParentName(scFileNode->getStringValue("station/parent", ""));
85 setMaxSpeed(scFileNode->getDoubleValue("max-speed-kts", 30.0));
86 setUpdateInterval(scFileNode->getDoubleValue("update-interval-sec", 10.0));
87 setCallSign(scFileNode->getStringValue("callsign", ""));
94 void FGAIEscort::bind() {
97 props->tie("station/rel-bearing-deg",
98 SGRawValuePointer<double>(&_stn_relbrg));
99 props->tie("station/true-bearing-deg",
100 SGRawValuePointer<double>(&_stn_truebrg));
101 props->tie("station/range-nm",
102 SGRawValuePointer<double>(&_stn_range));
103 props->tie("station/range-limit-nm",
104 SGRawValuePointer<double>(&_stn_limit));
105 props->tie("station/angle-limit-deg",
106 SGRawValuePointer<double>(&_stn_angle_limit));
107 props->tie("station/speed-kts",
108 SGRawValuePointer<double>(&_stn_speed));
109 props->tie("station/height-ft",
110 SGRawValuePointer<double>(&_stn_height));
111 props->tie("controls/update-interval-sec",
112 SGRawValuePointer<double>(&_interval));
113 props->tie("controls/parent-mp-control",
114 SGRawValuePointer<bool>(&_MPControl));
115 props->tie("station/target-range-nm",
116 SGRawValuePointer<double>(&_tgtrange));
117 props->tie("station/target-brg-deg-t",
118 SGRawValuePointer<double>(&_tgtbrg));
119 props->tie("station/patrol",
120 SGRawValuePointer<bool>(&_patrol));
123 void FGAIEscort::unbind() {
126 props->untie("station/rel-bearing-deg");
127 props->untie("station/true-bearing-deg");
128 props->untie("station/range-nm");
129 props->untie("station/range-limit-nm");
130 props->untie("station/angle-limit-deg");
131 props->untie("station/speed-kts");
132 props->untie("station/height-ft");
133 props->untie("controls/update-interval-sec");
137 bool FGAIEscort::init(bool search_in_AI_path) {
138 if (!FGAIShip::init(search_in_AI_path))
144 props->setStringValue("controls/parent-name", _parent.c_str());
147 speed = _parent_speed;
153 void FGAIEscort::update(double dt) {
154 FGAIShip::update(dt);
159 void FGAIEscort::setStnRange(double r) {
163 void FGAIEscort::setStnBrg(double b) {
167 void FGAIEscort::setStnLimit(double l) {
171 void FGAIEscort::setStnAngleLimit(double al) {
172 _stn_angle_limit = al;
175 void FGAIEscort::setStnSpeed(double s) {
179 void FGAIEscort::setStnHtFt(double h) {
183 void FGAIEscort::setStnDegTrue(bool t) {
187 void FGAIEscort::setMaxSpeed(double m) {
191 void FGAIEscort::setUpdateInterval(double i) {
195 void FGAIEscort::setStnPatrol(bool p) {
199 void FGAIEscort::setParentName(const string& p) {
203 bool FGAIEscort::getGroundElev(SGGeod inpos) {
207 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(inpos, 3000), height_m, &_material,0)){
208 _ht_agl_ft = inpos.getElevationFt() - height_m * SG_METER_TO_FEET;
211 const vector<string>& names = _material->get_names();
213 _solid = _material->get_solid();
216 props->setStringValue("material/name", names[0].c_str());
218 props->setStringValue("material/name", "");
220 //cout << "material " << names[0].c_str()
221 // << " _elevation_m " << _elevation_m
222 // << " solid " << _solid
223 // << " load " << _load_resistance
224 // << " frictionFactor " << _frictionFactor
236 void FGAIEscort::setParent() {
238 const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
240 for (int i = ai->nChildren() - 1; i >= -1; i--) {
241 SGPropertyNode_ptr model;
243 if (i < 0) { // last iteration: selected model
244 model = _selected_ac;
246 model = ai->getChild(i);
247 string path = ai->getPath();
248 const string name = model->getStringValue("name");
250 if (!model->nChildren()){
253 if (name == _parent) {
254 _selected_ac = model; // save selected model for last iteration
264 if (_selected_ac != 0){
265 const string name = _selected_ac->getStringValue("name");
266 double lat = _selected_ac->getDoubleValue("position/latitude-deg");
267 double lon = _selected_ac->getDoubleValue("position/longitude-deg");
268 double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
269 _MPControl = _selected_ac->getBoolValue("controls/mp-control");
271 _selectedpos.setLatitudeDeg(lat);
272 _selectedpos.setLongitudeDeg(lon);
273 _selectedpos.setElevationFt(elevation);
275 _parent_speed = _selected_ac->getDoubleValue("velocities/speed-kts");
276 _parent_hdg = _selected_ac->getDoubleValue("orientation/true-heading-deg");
279 _stn_truebrg = calcTrueBearingDeg(_stn_brg, _parent_hdg);
280 _stn_relbrg = _stn_brg;
281 //cout << _name <<" set rel"<<endl;
283 _stn_truebrg = _stn_brg;
284 _stn_relbrg = calcRelBearingDeg(_stn_brg, _parent_hdg);
285 //cout << _name << " set true"<<endl;
290 SGGeodesy::direct( _selectedpos, _stn_truebrg, _stn_range * SG_NM_TO_METER,
293 _tgtpos.setElevationFt(_stn_height);
295 calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
296 _tgtpos.getLatitudeDeg(), _tgtpos.getLongitudeDeg(), _tgtrange, _tgtbrg);
298 _relbrg = calcRelBearingDeg(_tgtbrg, hdg);
301 SG_LOG(SG_GENERAL, SG_ALERT, "AIEscort: " << _name
302 << " parent not found: dying ");
308 void FGAIEscort::calcRangeBearing(double lat, double lon, double lat2, double lon2,
309 double &range, double &bearing) const
311 // calculate the bearing and range of the second pos from the first
312 double az2, distance;
313 geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
314 range = distance * SG_METER_TO_NM;
317 double FGAIEscort::calcRelBearingDeg(double bearing, double heading)
319 double angle = bearing - heading;
320 SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
324 double FGAIEscort::calcTrueBearingDeg(double bearing, double heading)
326 double angle = bearing + heading;
327 SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
331 double FGAIEscort::calcRecipBearingDeg(double bearing)
333 double angle = bearing - 180;
334 SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
338 SGVec3d FGAIEscort::getCartHitchPosAt(const SGVec3d& _off) const {
339 double hdg = _selected_ac->getDoubleValue("orientation/true-heading-deg");
340 double pitch = _selected_ac->getDoubleValue("orientation/pitch-deg");
341 double roll = _selected_ac->getDoubleValue("orientation/roll-deg");
343 // Transform that one to the horizontal local coordinate system.
344 SGQuatd hlTrans = SGQuatd::fromLonLat(_selectedpos);
346 // and postrotate the orientation of the AIModel wrt the horizontal
348 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
350 // The offset converted to the usual body fixed coordinate system
351 // rotated to the earth fiexed coordinates axis
352 SGVec3d off = hlTrans.backTransform(_off);
354 // Add the position offset of the AIModel to gain the earth centered position
355 SGVec3d cartPos = SGVec3d::fromGeod(_selectedpos);
357 return cartPos + off;
361 void FGAIEscort::setStationSpeed(){
366 // these are the AI rules for the manoeuvring of escorts
368 if (_MPControl && _tgtrange > 4 * _stn_limit){
369 SG_LOG(SG_GENERAL, SG_ALERT, "AIEscort: " << _name
370 << " re-aligning to MP pos");
374 }else if ((_relbrg < -90 || _relbrg > 90) && _tgtrange > _stn_limit ){
377 if(_tgtrange > 4 * _stn_limit)
378 speed = 4 * -_stn_speed;
382 }else if ((_relbrg >= -90 || _relbrg <= 90) && _tgtrange > _stn_limit){
385 if(_tgtrange > 4 * _stn_limit)
386 speed = 4 * _stn_speed;
393 angle = 15 * sg_random();
394 speed = 5 * sg_random();
402 double station_speed = _parent_speed + speed;
404 SG_CLAMP_RANGE(station_speed, 5.0, _max_speed);
405 SG_CLAMP_RANGE(angle, -_stn_angle_limit, _stn_angle_limit);
407 AccelTo(station_speed);
408 TurnTo(_parent_hdg + angle);
409 ClimbTo(_stn_height);
413 void FGAIEscort::RunEscort(double dt){
419 ///////////////////////////////////////////////////////////////////////////
420 // Check execution time (currently once every 0.05 sec or 20 fps)
421 // Add a bit of randomization to prevent the execution of all flight plans
422 // in synchrony, which can add significant periodic framerate flutter.
423 // Randomization removed to get better appearance
424 ///////////////////////////////////////////////////////////////////////////
426 //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
427 if (_dt_count < _next_run)
429 _next_run = _interval /*+ (0.015 * sg_random())*/;
437 //getGroundElev(pos);
443 // end AIGroundvehicle