1 // FGAIGroundVehicle - 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.
21 #ifndef _FG_AIESCORT_HXX
22 #define _FG_AIESCORT_HXX
27 #include <simgear/compiler.h>
33 #include "AIManager.hxx"
36 class FGAIEscort : public FGAIShip {
39 virtual ~FGAIEscort();
41 virtual void readFromScenario(SGPropertyNode* scFileNode);
43 virtual void unbind();
44 virtual const char* getTypeString(void) const { return "escort"; }
46 bool init(bool search_in_AI_path=false);
50 virtual void reinit() { init(); }
51 virtual void update (double dt);
53 void setParentName(const std::string& p);
55 void setStnRange(double r);
56 void setStnBrg(double y);
57 void setStationSpeed();
58 void setStnLimit(double l);
59 void setStnAngleLimit(double l);
60 void setStnSpeed(double s);
61 void setStnHtFt(double h);
62 void setStnPatrol(bool p);
63 void setStnDegTrue(bool t);
66 void setMaxSpeed(double m);
67 void setUpdateInterval(double i);
69 void RunEscort(double dt);
71 bool getGroundElev(SGGeod inpos);
73 SGVec3d getCartHitchPosAt(const SGVec3d& off) const;
75 void calcRangeBearing(double lat, double lon, double lat2, double lon2,
76 double &range, double &bearing) const;
77 double calcRelBearingDeg(double bearing, double heading);
78 double calcTrueBearingDeg(double bearing, double heading);
79 double calcRecipBearingDeg(double bearing);
84 bool _solid; // if true ground is solid for FDMs
85 double _load_resistance; // ground load resistanc N/m^2
86 double _frictionFactor; // dimensionless modifier for Coefficient of Friction
87 double _tgtrange, _tgtbrg;
89 double _relbrg, _truebrg;
90 double _parent_speed, _parent_hdg;
93 double _stn_relbrg, _stn_truebrg, _stn_brg, _stn_range, _stn_height;
94 double _stn_speed, _stn_angle_limit, _stn_limit;
98 const SGMaterial* _material;
99 SGPropertyNode_ptr _selected_ac;
101 bool _MPControl, _patrol, _stn_deg_true;
107 #endif // FG_AIGROUNDVEHICLE_HXX