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.
25 #include <simgear/sg_inlines.h>
27 #include <Main/viewer.hxx>
28 #include <Scenery/scenery.hxx>
29 #include <Scenery/tilemgr.hxx>
30 #include <Airports/dynamics.hxx>
32 #include "AIGroundVehicle.hxx"
34 FGAIGroundVehicle::FGAIGroundVehicle() :
35 FGAIShip(otGroundVehicle),
56 FGAIGroundVehicle::~FGAIGroundVehicle() {}
58 void FGAIGroundVehicle::readFromScenario(SGPropertyNode* scFileNode) {
62 FGAIShip::readFromScenario(scFileNode);
64 setName(scFileNode->getStringValue("name", "groundvehicle"));
65 setParentName(scFileNode->getStringValue("parent", ""));
66 setNoRoll(scFileNode->getBoolValue("no-roll", true));
67 setContactX1offset(scFileNode->getDoubleValue("contact-x1-offset", 0.0));
68 setContactX2offset(scFileNode->getDoubleValue("contact-x2-offset", 0.0));
69 setXOffset(scFileNode->getDoubleValue("hitch-x-offset", 35.0));
70 setYOffset(scFileNode->getDoubleValue("hitch-y-offset", 0.0));
71 setZOffset(scFileNode->getDoubleValue("hitch-z-offset", 0.0));
72 setPitchoffset(scFileNode->getDoubleValue("pitch-offset", 0.0));
73 setRolloffset(scFileNode->getDoubleValue("roll-offset", 0.0));
74 setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0));
75 setPitchCoeff(scFileNode->getDoubleValue("pitch-coefficient", 0.1));
76 setElevCoeff(scFileNode->getDoubleValue("elevation-coefficient", 0.25));
77 setTowAngleGain(scFileNode->getDoubleValue("tow-angle-gain", 1.0));
78 setTowAngleLimit(scFileNode->getDoubleValue("tow-angle-limit-deg", 2.0));
79 setInitialTunnel(scFileNode->getBoolValue("tunnel", false));
80 //we may need these later for towed vehicles
81 // setSubID(scFileNode->getIntValue("SubID", 0));
82 // setGroundOffset(scFileNode->getDoubleValue("ground-offset", 0.0));
83 // setFormate(scFileNode->getBoolValue("formate", true));
86 void FGAIGroundVehicle::bind() {
89 props->tie("controls/constants/elevation-coeff",
90 SGRawValuePointer<double>(&_elevation_coeff));
91 props->tie("controls/constants/pitch-coeff",
92 SGRawValuePointer<double>(&_pitch_coeff));
93 props->tie("position/ht-AGL-ft",
94 SGRawValuePointer<double>(&_ht_agl_ft));
95 props->tie("hitch/rel-bearing-deg",
96 SGRawValuePointer<double>(&_relbrg));
97 props->tie("hitch/tow-angle-deg",
98 SGRawValuePointer<double>(&_tow_angle));
99 props->tie("hitch/range-ft",
100 SGRawValuePointer<double>(&_range_ft));
101 props->tie("hitch/x-offset-ft",
102 SGRawValuePointer<double>(&_x_offset));
103 props->tie("hitch/y-offset-ft",
104 SGRawValuePointer<double>(&_y_offset));
105 props->tie("hitch/z-offset-ft",
106 SGRawValuePointer<double>(&_z_offset));
107 props->tie("hitch/parent-x-offset-ft",
108 SGRawValuePointer<double>(&_parent_x_offset));
109 props->tie("hitch/parent-y-offset-ft",
110 SGRawValuePointer<double>(&_parent_y_offset));
111 props->tie("hitch/parent-z-offset-ft",
112 SGRawValuePointer<double>(&_parent_z_offset));
113 props->tie("controls/constants/tow-angle/gain",
114 SGRawValuePointer<double>(&_tow_angle_gain));
115 props->tie("controls/constants/tow-angle/limit-deg",
116 SGRawValuePointer<double>(&_tow_angle_limit));
117 props->tie("controls/contact-x1-offset-ft",
118 SGRawValuePointer<double>(&_contact_x1_offset));
119 props->tie("controls/contact-x2-offset-ft",
120 SGRawValuePointer<double>(&_contact_x2_offset));
123 void FGAIGroundVehicle::unbind() {
126 props->untie("controls/constants/elevation-coeff");
127 props->untie("controls/constants/pitch-coeff");
128 props->untie("position/ht-AGL-ft");
129 props->untie("hitch/rel-bearing-deg");
130 props->untie("hitch/tow-angle-deg");
131 props->untie("hitch/range-ft");
132 props->untie("hitch/x-offset-ft");
133 props->untie("hitch/y-offset-ft");
134 props->untie("hitch/z-offset-ft");
135 props->untie("hitch/parent-x-offset-ft");
136 props->untie("hitch/parent-y-offset-ft");
137 props->untie("hitch/parent-y-offset-ft");
138 props->untie("controls/constants/tow-angle/gain");
139 props->untie("controls/constants/tow-angle/limit-deg");
140 props->untie("controls/contact-x1-offset-ft");
141 props->untie("controls/contact-x2-offset-ft");
144 bool FGAIGroundVehicle::init(bool search_in_AI_path) {
145 if (!FGAIShip::init(search_in_AI_path))
152 props->setStringValue("controls/parent-name", _parent.c_str());
\r
158 void FGAIGroundVehicle::update(double dt) {
159 // SG_LOG(SG_GENERAL, SG_ALERT, "updating GroundVehicle: " << _name );
160 FGAIShip::update(dt);
162 RunGroundVehicle(dt);
165 void FGAIGroundVehicle::setNoRoll(bool nr) {
169 void FGAIGroundVehicle::setContactX1offset(double x1) {
170 _contact_x1_offset = x1;
173 void FGAIGroundVehicle::setContactX2offset(double x2) {
174 _contact_x2_offset = x2;
177 void FGAIGroundVehicle::setXOffset(double x) {
181 void FGAIGroundVehicle::setYOffset(double y) {
185 void FGAIGroundVehicle::setZOffset(double z) {
189 void FGAIGroundVehicle::setPitchCoeff(double pc) {
193 void FGAIGroundVehicle::setElevCoeff(double ec) {
194 _elevation_coeff = ec;
197 void FGAIGroundVehicle::setTowAngleGain(double g) {
201 void FGAIGroundVehicle::setTowAngleLimit(double l) {
202 _tow_angle_limit = l;
205 void FGAIGroundVehicle::setElevation(double h, double dt, double coeff){
206 double c = dt / (coeff + dt);
207 _elevation_ft = (h * c) + (_elevation_ft * (1 - c));
210 void FGAIGroundVehicle::setPitch(double p, double dt, double coeff){
211 double c = dt / (coeff + dt);
212 _pitch_deg = (p * c) + (_pitch_deg * (1 - c));
215 void FGAIGroundVehicle::setParentName(const string& p) {
219 void FGAIGroundVehicle::setTowAngle(double ta, double dt, double coeff){
220 ta *= _tow_angle_gain;
221 double factor = -0.0045 * speed + 1;
222 double limit = _tow_angle_limit * factor;
223 // cout << "speed "<< speed << " _factor " << _factor<<" " <<_tow_angle_limit<< endl;
224 _tow_angle = pow(ta,2) * sign(ta) * factor;
225 SG_CLAMP_RANGE(_tow_angle, -limit, limit);
228 bool FGAIGroundVehicle::getGroundElev(SGGeod inpos) {
232 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(inpos, 3000), height_m, &_material,0)){
233 _ht_agl_ft = inpos.getElevationFt() - height_m * SG_METER_TO_FEET;
236 const vector<string>& names = _material->get_names();
238 _solid = _material->get_solid();
241 props->setStringValue("material/name", names[0].c_str());
243 props->setStringValue("material/name", "");
245 //cout << "material " << names[0].c_str()
246 // << " _elevation_m " << _elevation_m
247 // << " solid " << _solid
248 // << " load " << _load_resistance
249 // << " frictionFactor " << _frictionFactor
261 bool FGAIGroundVehicle::getPitch() {
264 double vel = props->getDoubleValue("velocities/true-airspeed-kt", 0);
265 double contact_offset_x1_m = _contact_x1_offset * SG_FEET_TO_METER;
266 double contact_offset_x2_m = _contact_x2_offset * SG_FEET_TO_METER;
267 double _z_offset_m = _parent_z_offset * SG_FEET_TO_METER;
269 SGVec3d front(-contact_offset_x1_m, 0, 0);
270 SGVec3d rear(-contact_offset_x2_m, 0, 0);
271 SGVec3d Front = getCartPosAt(front);
272 SGVec3d Rear = getCartPosAt(rear);
274 SGGeod geodFront = SGGeod::fromCart(Front);
275 SGGeod geodRear = SGGeod::fromCart(Rear);
277 double front_elev_m = 0;
278 double rear_elev_m = 0;
279 double elev_front = 0;
280 double elev_rear = 0;
281 double max_alt = 10000;
283 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodFront, 3000),
284 elev_front, &_material, 0)){
285 front_elev_m = elev_front + _z_offset_m;
289 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodRear, 3000),
290 elev_rear, &_material, 0)){
291 rear_elev_m = elev_rear;
296 double diff = front_elev_m - rear_elev_m;
297 _pitch = atan2 (diff,
298 fabs(contact_offset_x1_m) + fabs(contact_offset_x2_m)) * SG_RADIANS_TO_DEGREES;
299 _elevation = (rear_elev_m + diff/2) * SG_METER_TO_FEET;
301 double diff = rear_elev_m - front_elev_m;
302 _pitch = atan2 (diff,
303 fabs(contact_offset_x1_m) + fabs(contact_offset_x2_m)) * SG_RADIANS_TO_DEGREES;
304 _elevation = (front_elev_m + diff/2) * SG_METER_TO_FEET;
310 if (prev->altitude == 0 || curr->altitude == 0) return false;
312 static double distance;
314 static double curr_alt;
315 static double prev_alt;
318 //cout << "new waypoint, calculating pitch " << endl;
319 curr_alt = curr->altitude;
320 prev_alt = prev->altitude;
321 //cout << "prev_alt" <<prev_alt << endl;
322 d_alt = (curr_alt - prev_alt) * SG_METER_TO_FEET;
323 //_elevation = prev->altitude;
324 distance = SGGeodesy::distanceM(SGGeod::fromDeg(prev->longitude, prev->latitude),
325 SGGeod::fromDeg(curr->longitude, curr->latitude));
326 _pitch = atan2(d_alt, distance * SG_METER_TO_FEET) * SG_RADIANS_TO_DEGREES;
327 //cout << "new waypoint, calculating pitch " << _pitch <<
328 // " " << _pitch_offset << " " << _elevation <<endl;
331 double distance_to_go = SGGeodesy::distanceM(SGGeod::fromDeg(pos.getLongitudeDeg(), pos.getLatitudeDeg()),
332 SGGeod::fromDeg(curr->longitude, curr->latitude));
334 /*cout << "tunnel " << _tunnel
335 << " distance prev & curr " << prev->name << " " << curr->name << " " << distance * SG_METER_TO_FEET
336 << " distance to go " << distance_to_go * SG_METER_TO_FEET
337 << " d_alt ft " << d_alt
340 if (distance_to_go > distance)
341 _elevation = prev_alt;
343 _elevation = curr_alt - (tan(_pitch * SG_DEGREES_TO_RADIANS) * distance_to_go * SG_METER_TO_FEET);
347 //getGroundElev(pos);
352 void FGAIGroundVehicle::setParentNode() {
357 const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
359 for (int i = ai->nChildren() - 1; i >= -1; i--) {
360 SGPropertyNode_ptr model;
362 if (i < 0) { // last iteration: selected model
363 model = _selected_ac;
365 model = ai->getChild(i);
366 string path = ai->getPath();
367 const string name = model->getStringValue("name");
369 if (!model->nChildren()){
372 if (name == _parent) {
373 _selected_ac = model; // save selected model for last iteration
383 if (_selected_ac != 0){
384 const string name = _selected_ac->getStringValue("name");
385 _parent_x_offset = _selected_ac->getDoubleValue("hitch/x-offset-ft");
386 _parent_y_offset = _selected_ac->getDoubleValue("hitch/y-offset-ft");
387 _parent_z_offset = _selected_ac->getDoubleValue("hitch/z-offset-ft");
388 _hitch_x_offset_m = _selected_ac->getDoubleValue("hitch/x-offset-ft")
390 _hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
392 _hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
396 SG_LOG(SG_GENERAL, SG_ALERT, "AIGroundVeh1cle: " << _name
397 << " parent not found: dying ");
403 void FGAIGroundVehicle::setParent(){
405 double lat = _selected_ac->getDoubleValue("position/latitude-deg");
406 double lon = _selected_ac->getDoubleValue("position/longitude-deg");
407 double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
409 _selectedpos.setLatitudeDeg(lat);
410 _selectedpos.setLongitudeDeg(lon);
411 _selectedpos.setElevationFt(elevation);
413 _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
415 SGVec3d rear_hitch(-_hitch_x_offset_m, _hitch_y_offset_m, 0);
416 SGVec3d RearHitch = getCartHitchPosAt(rear_hitch);
418 SGGeod rearpos = SGGeod::fromCart(RearHitch);
420 double user_lat = rearpos.getLatitudeDeg();
421 double user_lon = rearpos.getLongitudeDeg();
423 double range, bearing;
425 calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
426 user_lat, user_lon, range, bearing);
427 _range_ft = range * 6076.11549;
428 _relbrg = calcRelBearingDeg(bearing, hdg);
431 void FGAIGroundVehicle::calcRangeBearing(double lat, double lon, double lat2, double lon2,
432 double &range, double &bearing) const
434 // calculate the bearing and range of the second pos from the first
435 double az2, distance;
436 geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
437 range = distance * SG_METER_TO_NM;
440 double FGAIGroundVehicle::calcRelBearingDeg(double bearing, double heading)
442 double angle = bearing - heading;
443 SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
447 SGVec3d FGAIGroundVehicle::getCartHitchPosAt(const SGVec3d& _off) const {
448 double hdg = _selected_ac->getDoubleValue("orientation/true-heading-deg");
449 double pitch = _selected_ac->getDoubleValue("orientation/pitch-deg");
450 double roll = _selected_ac->getDoubleValue("orientation/roll-deg");
452 // Transform that one to the horizontal local coordinate system.
453 SGQuatd hlTrans = SGQuatd::fromLonLat(_selectedpos);
455 // and postrotate the orientation of the AIModel wrt the horizontal
457 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
459 // The offset converted to the usual body fixed coordinate system
460 // rotated to the earth fiexed coordinates axis
461 SGVec3d off = hlTrans.backTransform(_off);
463 // Add the position offset of the AIModel to gain the earth centered position
464 SGVec3d cartPos = SGVec3d::fromGeod(_selectedpos);
466 return cartPos + off;
469 void FGAIGroundVehicle::AdvanceFP(){
472 string parent_next_name =_selected_ac->getStringValue("waypoint/name-next");
474 while(fp->getNextWaypoint() != 0 && fp->getNextWaypoint()->name != "END" && count < 5){
475 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
476 <<" advancing waypoint to: " << parent_next_name);
478 if (fp->getNextWaypoint()->name == parent_next_name){
479 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
480 << " not setting waypoint already at: " << fp->getNextWaypoint()->name);
485 fp->IncrementWaypoint(false);
486 curr = fp->getCurrentWaypoint();
487 next = fp->getNextWaypoint();
489 if (fp->getNextWaypoint()->name == parent_next_name){
490 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
491 << " waypoint set to: " << fp->getNextWaypoint()->name);
499 while(fp->getPreviousWaypoint() != 0 && fp->getPreviousWaypoint()->name != "END"
501 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
502 << " retreating waypoint to: " << parent_next_name
503 << " at: " << fp->getNextWaypoint()->name);
505 if (fp->getNextWaypoint()->name == parent_next_name){
506 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
507 << " not setting waypoint already at:" << fp->getNextWaypoint()->name );
512 fp->DecrementWaypoint(false);
513 curr = fp->getCurrentWaypoint();
514 next = fp->getNextWaypoint();
516 if (fp->getNextWaypoint()->name == parent_next_name){
517 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
518 << " waypoint set to: " << fp->getNextWaypoint()->name);
527 void FGAIGroundVehicle::setTowSpeed(){
529 double diff = _range_ft - _x_offset;
532 if (_range_ft > _x_offset * 3) x = 50;
534 if (_relbrg < -90 || _relbrg > 90){
535 setSpeed(_parent_speed - 5 - x);
536 //cout << _name << " case 1r _relbrg spd - 5 " << _relbrg << " " << diff << endl;
537 }else if (_range_ft > _x_offset + 0.25 && _relbrg >= -90 && _relbrg <= 90){
538 setSpeed(_parent_speed + 1 + x);
539 //cout << _name << " case 2r _relbrg spd + 1 " << _relbrg << " "
540 // << diff << " range " << _range_ft << endl;
541 } else if (_range_ft < _x_offset - 0.25 && _relbrg >= -90 && _relbrg <= 90){
542 setSpeed(_parent_speed - 1 - x);
543 //cout << _name << " case 3r _relbrg spd - 2 " << _relbrg << " "
544 // << diff << " " << _range_ft << endl;
546 setSpeed(_parent_speed);
547 //cout << _name << " else r _relbrg " << _relbrg << " " << diff << endl;
552 void FGAIGroundVehicle::RunGroundVehicle(double dt){
556 ///////////////////////////////////////////////////////////////////////////
557 // Check execution time (currently once every 0.05 sec or 20 fps)
558 // Add a bit of randomization to prevent the execution of all flight plans
559 // in synchrony, which can add significant periodic framerate flutter.
560 // Randomization removed to get better appearance
561 ///////////////////////////////////////////////////////////////////////////
563 //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
564 if (_dt_count < _next_run)
567 _next_run = 0.05 /*+ (0.015 * sg_random())*/;
570 setElevation(_elevation, _dt_count, _elevation_coeff);
571 ClimbTo(_elevation_ft);
572 setPitch(_pitch, _dt_count, _pitch_coeff);
577 AccelTo(prev->speed);
584 string parent_next_name = _selected_ac->getStringValue("waypoint/name-next");
585 bool parent_waiting = _selected_ac->getBoolValue("waypoint/waiting");
586 bool parent_restart = _selected_ac->getBoolValue("controls/restart");
588 if (parent_next_name == "END" && fp->getNextWaypoint()->name != "END" ){
589 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
590 << " setting END: getting new waypoints ");
593 setTunnel(_initial_tunnel);
594 if(_restart) _missed_count = 200;
595 /*} else if (parent_next_name == "WAIT" && fp->getNextWaypoint()->name != "WAIT" ){*/
596 } else if (parent_waiting && !_waiting){
597 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
598 << " setting WAIT/WAITUNTIL: getting new waypoints ");
602 } else if (parent_next_name != "WAIT" && fp->getNextWaypoint()->name == "WAIT"){
603 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
604 << " wait done: getting new waypoints ");
607 fp->IncrementWaypoint(false);
608 next = fp->getNextWaypoint();
610 if (next->name == "WAITUNTIL" || next->name == "WAIT"
611 || next->name == "END"){
614 fp->IncrementWaypoint(false);
615 curr = fp->getCurrentWaypoint();
616 next = fp->getNextWaypoint();
620 } else if (_range_ft > (_x_offset +_parent_x_offset)* 4
622 SG_LOG(SG_GENERAL, SG_ALERT, "AIGroundVeh1cle: " << _name
623 << " rescue: reforming train " << _range_ft
626 setTowAngle(0, dt, 1);
627 setSpeed(_parent_speed + (10 * sign(_parent_speed)));
629 } else if (_parent_speed > 1){
632 setTowAngle(_relbrg, dt, 1);
634 } else if (_parent_speed < -1){
639 setTowAngle(-(180 - (360 + _relbrg)), dt, 1);
641 setTowAngle(-(180 - _relbrg), dt, 1);
644 setSpeed(_parent_speed);
646 // FGAIShip::update(_dt_count);
651 // end AIGroundvehicle