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 <Viewer/viewer.hxx>
28 #include <Scenery/scenery.hxx>
29 #include <Airports/dynamics.hxx>
31 #include "AIGroundVehicle.hxx"
35 FGAIGroundVehicle::FGAIGroundVehicle() :
36 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 tie("controls/constants/elevation-coeff",
90 SGRawValuePointer<double>(&_elevation_coeff));
91 tie("controls/constants/pitch-coeff",
92 SGRawValuePointer<double>(&_pitch_coeff));
93 tie("position/ht-AGL-ft",
94 SGRawValuePointer<double>(&_ht_agl_ft));
95 tie("hitch/rel-bearing-deg",
96 SGRawValuePointer<double>(&_relbrg));
97 tie("hitch/tow-angle-deg",
98 SGRawValuePointer<double>(&_tow_angle));
100 SGRawValuePointer<double>(&_range_ft));
101 tie("hitch/x-offset-ft",
102 SGRawValuePointer<double>(&_x_offset));
103 tie("hitch/y-offset-ft",
104 SGRawValuePointer<double>(&_y_offset));
105 tie("hitch/z-offset-ft",
106 SGRawValuePointer<double>(&_z_offset));
107 tie("hitch/parent-x-offset-ft",
108 SGRawValuePointer<double>(&_parent_x_offset));
109 tie("hitch/parent-y-offset-ft",
110 SGRawValuePointer<double>(&_parent_y_offset));
111 tie("hitch/parent-z-offset-ft",
112 SGRawValuePointer<double>(&_parent_z_offset));
113 tie("controls/constants/tow-angle/gain",
114 SGRawValuePointer<double>(&_tow_angle_gain));
115 tie("controls/constants/tow-angle/limit-deg",
116 SGRawValuePointer<double>(&_tow_angle_limit));
117 tie("controls/contact-x1-offset-ft",
118 SGRawValuePointer<double>(&_contact_x1_offset));
119 tie("controls/contact-x2-offset-ft",
120 SGRawValuePointer<double>(&_contact_x2_offset));
123 bool FGAIGroundVehicle::init(bool search_in_AI_path) {
124 if (!FGAIShip::init(search_in_AI_path))
130 void FGAIGroundVehicle::reinit() {
135 props->setStringValue("controls/parent-name", _parent.c_str());
137 if (setParentNode()){
138 _parent_x_offset = _selected_ac->getDoubleValue("hitch/x-offset-ft");
139 _parent_y_offset = _selected_ac->getDoubleValue("hitch/y-offset-ft");
140 _parent_z_offset = _selected_ac->getDoubleValue("hitch/z-offset-ft");
141 _hitch_x_offset_m = _selected_ac->getDoubleValue("hitch/x-offset-ft")
143 _hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
145 _hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
153 void FGAIGroundVehicle::update(double dt) {
154 // SG_LOG(SG_AI, SG_ALERT, "updating GroundVehicle: " << _name );
155 FGAIShip::update(dt);
157 RunGroundVehicle(dt);
160 void FGAIGroundVehicle::setNoRoll(bool nr) {
164 void FGAIGroundVehicle::setContactX1offset(double x1) {
165 _contact_x1_offset = x1;
168 void FGAIGroundVehicle::setContactX2offset(double x2) {
169 _contact_x2_offset = x2;
172 void FGAIGroundVehicle::setXOffset(double x) {
176 void FGAIGroundVehicle::setYOffset(double y) {
180 void FGAIGroundVehicle::setZOffset(double z) {
184 void FGAIGroundVehicle::setPitchCoeff(double pc) {
188 void FGAIGroundVehicle::setElevCoeff(double ec) {
189 _elevation_coeff = ec;
192 void FGAIGroundVehicle::setTowAngleGain(double g) {
196 void FGAIGroundVehicle::setTowAngleLimit(double l) {
197 _tow_angle_limit = l;
200 void FGAIGroundVehicle::setElevation(double h, double dt, double coeff){
201 double c = dt / (coeff + dt);
202 _elevation_ft = (h * c) + (_elevation_ft * (1 - c));
205 void FGAIGroundVehicle::setPitch(double p, double dt, double coeff){
206 double c = dt / (coeff + dt);
207 _pitch_deg = (p * c) + (_pitch_deg * (1 - c));
210 void FGAIGroundVehicle::setTowAngle(double ta, double dt, double coeff){
211 ta *= _tow_angle_gain;
212 double factor = -0.0045 * speed + 1;
213 double limit = _tow_angle_limit * factor;
214 // cout << "speed "<< speed << " _factor " << _factor<<" " <<_tow_angle_limit<< endl;
215 _tow_angle = pow(ta,2) * sign(ta) * factor;
216 SG_CLAMP_RANGE(_tow_angle, -limit, limit);
219 bool FGAIGroundVehicle::getPitch() {
222 double vel = props->getDoubleValue("velocities/true-airspeed-kt", 0);
223 double contact_offset_x1_m = _contact_x1_offset * SG_FEET_TO_METER;
224 double contact_offset_x2_m = _contact_x2_offset * SG_FEET_TO_METER;
225 double _z_offset_m = _parent_z_offset * SG_FEET_TO_METER;
227 SGVec3d front(-contact_offset_x1_m, 0, 0);
228 SGVec3d rear(-contact_offset_x2_m, 0, 0);
229 SGVec3d Front = getCartPosAt(front);
230 SGVec3d Rear = getCartPosAt(rear);
232 SGGeod geodFront = SGGeod::fromCart(Front);
233 SGGeod geodRear = SGGeod::fromCart(Rear);
235 double front_elev_m = 0;
236 double rear_elev_m = 0;
237 double elev_front = 0;
238 double elev_rear = 0;
239 //double max_alt = 10000;
241 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodFront, 3000),
242 elev_front, NULL, 0)){
243 front_elev_m = elev_front + _z_offset_m;
247 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodRear, 3000),
248 elev_rear, NULL, 0)){
249 rear_elev_m = elev_rear;
254 double diff = front_elev_m - rear_elev_m;
255 _pitch = atan2 (diff,
256 fabs(contact_offset_x1_m) + fabs(contact_offset_x2_m)) * SG_RADIANS_TO_DEGREES;
257 _elevation = (rear_elev_m + diff/2) * SG_METER_TO_FEET;
259 double diff = rear_elev_m - front_elev_m;
260 _pitch = atan2 (diff,
261 fabs(contact_offset_x1_m) + fabs(contact_offset_x2_m)) * SG_RADIANS_TO_DEGREES;
262 _elevation = (front_elev_m + diff/2) * SG_METER_TO_FEET;
268 if (prev->getAltitude() == 0 || curr->getAltitude() == 0) return false;
270 static double distance;
272 static double curr_alt;
273 static double prev_alt;
276 //cout << "new waypoint, calculating pitch " << endl;
277 curr_alt = curr->getAltitude();
278 prev_alt = prev->getAltitude();
279 //cout << "prev_alt" <<prev_alt << endl;
280 d_alt = (curr_alt - prev_alt) * SG_METER_TO_FEET;
281 //_elevation = prev->altitude;
282 distance = SGGeodesy::distanceM(SGGeod::fromDeg(prev->getLongitude(), prev->getLatitude()),
283 SGGeod::fromDeg(curr->getLongitude(), curr->getLatitude()));
284 _pitch = atan2(d_alt, distance * SG_METER_TO_FEET) * SG_RADIANS_TO_DEGREES;
285 //cout << "new waypoint, calculating pitch " << _pitch <<
286 // " " << _pitch_offset << " " << _elevation <<endl;
289 double distance_to_go = SGGeodesy::distanceM(SGGeod::fromDeg(pos.getLongitudeDeg(), pos.getLatitudeDeg()),
290 SGGeod::fromDeg(curr->getLongitude(), curr->getLatitude()));
292 /*cout << "tunnel " << _tunnel
293 << " distance prev & curr " << prev->name << " " << curr->name << " " << distance * SG_METER_TO_FEET
294 << " distance to go " << distance_to_go * SG_METER_TO_FEET
295 << " d_alt ft " << d_alt
298 if (distance_to_go > distance)
299 _elevation = prev_alt;
301 _elevation = curr_alt - (tan(_pitch * SG_DEGREES_TO_RADIANS) * distance_to_go * SG_METER_TO_FEET);
308 void FGAIGroundVehicle::setParent(){
310 double lat = _selected_ac->getDoubleValue("position/latitude-deg");
311 double lon = _selected_ac->getDoubleValue("position/longitude-deg");
312 double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
314 _selectedpos.setLatitudeDeg(lat);
315 _selectedpos.setLongitudeDeg(lon);
316 _selectedpos.setElevationFt(elevation);
318 _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
320 SGVec3d rear_hitch(-_hitch_x_offset_m, _hitch_y_offset_m, 0);
321 SGVec3d RearHitch = getCartHitchPosAt(rear_hitch);
323 SGGeod rearpos = SGGeod::fromCart(RearHitch);
325 double user_lat = rearpos.getLatitudeDeg();
326 double user_lon = rearpos.getLongitudeDeg();
328 double range, bearing;
330 calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
331 user_lat, user_lon, range, bearing);
332 _range_ft = range * 6076.11549;
333 _relbrg = calcRelBearingDeg(bearing, hdg);
336 void FGAIGroundVehicle::calcRangeBearing(double lat, double lon, double lat2, double lon2,
337 double &range, double &bearing) const
339 // calculate the bearing and range of the second pos from the first
340 double az2, distance;
341 geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
342 range = distance * SG_METER_TO_NM;
346 SGVec3d FGAIGroundVehicle::getCartHitchPosAt(const SGVec3d& _off) const {
347 double hdg = _selected_ac->getDoubleValue("orientation/true-heading-deg");
348 double pitch = _selected_ac->getDoubleValue("orientation/pitch-deg");
349 double roll = _selected_ac->getDoubleValue("orientation/roll-deg");
351 // Transform that one to the horizontal local coordinate system.
352 SGQuatd hlTrans = SGQuatd::fromLonLat(_selectedpos);
354 // and postrotate the orientation of the AIModel wrt the horizontal
356 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
358 // The offset converted to the usual body fixed coordinate system
359 // rotated to the earth fiexed coordinates axis
360 SGVec3d off = hlTrans.backTransform(_off);
362 // Add the position offset of the AIModel to gain the earth centered position
363 SGVec3d cartPos = SGVec3d::fromGeod(_selectedpos);
365 return cartPos + off;
368 void FGAIGroundVehicle::AdvanceFP(){
371 string parent_next_name =_selected_ac->getStringValue("waypoint/name-next");
373 while(fp->getNextWaypoint() != 0 && fp->getNextWaypoint()->getName() != "END" && count < 5){
374 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
375 <<" advancing waypoint to: " << parent_next_name);
377 if (fp->getNextWaypoint()->getName() == parent_next_name){
378 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
379 << " not setting waypoint already at: " << fp->getNextWaypoint()->getName());
384 fp->IncrementWaypoint(false);
385 curr = fp->getCurrentWaypoint();
386 next = fp->getNextWaypoint();
388 if (fp->getNextWaypoint()->getName() == parent_next_name){
389 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
390 << " waypoint set to: " << fp->getNextWaypoint()->getName());
398 while(fp->getPreviousWaypoint() != 0 && fp->getPreviousWaypoint()->getName() != "END"
400 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
401 << " retreating waypoint to: " << parent_next_name
402 << " at: " << fp->getNextWaypoint()->getName());
404 if (fp->getNextWaypoint()->getName() == parent_next_name){
405 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
406 << " not setting waypoint already at:" << fp->getNextWaypoint()->getName() );
411 fp->DecrementWaypoint(false);
412 curr = fp->getCurrentWaypoint();
413 next = fp->getNextWaypoint();
415 if (fp->getNextWaypoint()->getName() == parent_next_name){
416 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
417 << " waypoint set to: " << fp->getNextWaypoint()->getName());
426 void FGAIGroundVehicle::setTowSpeed(){
428 //double diff = _range_ft - _x_offset;
431 if (_range_ft > _x_offset * 3) x = 50;
433 if (_relbrg < -90 || _relbrg > 90){
434 setSpeed(_parent_speed - 5 - x);
435 //cout << _name << " case 1r _relbrg spd - 5 " << _relbrg << " " << diff << endl;
436 }else if (_range_ft > _x_offset + 0.25 && _relbrg >= -90 && _relbrg <= 90){
437 setSpeed(_parent_speed + 1 + x);
438 //cout << _name << " case 2r _relbrg spd + 1 " << _relbrg << " "
439 // << diff << " range " << _range_ft << endl;
440 } else if (_range_ft < _x_offset - 0.25 && _relbrg >= -90 && _relbrg <= 90){
441 setSpeed(_parent_speed - 1 - x);
442 //cout << _name << " case 3r _relbrg spd - 2 " << _relbrg << " "
443 // << diff << " " << _range_ft << endl;
445 setSpeed(_parent_speed);
446 //cout << _name << " else r _relbrg " << _relbrg << " " << diff << endl;
451 void FGAIGroundVehicle::RunGroundVehicle(double dt){
455 ///////////////////////////////////////////////////////////////////////////
456 // Check execution time (currently once every 0.05 sec or 20 fps)
457 // Add a bit of randomization to prevent the execution of all flight plans
458 // in synchrony, which can add significant periodic framerate flutter.
459 // Randomization removed to get better appearance
460 ///////////////////////////////////////////////////////////////////////////
462 //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
463 if (_dt_count < _next_run)
466 _next_run = 0.05 /*+ (0.015 * sg_random())*/;
469 setElevation(_elevation, _dt_count, _elevation_coeff);
470 ClimbTo(_elevation_ft);
471 setPitch(_pitch, _dt_count, _pitch_coeff);
476 AccelTo(prev->getSpeed());
483 string parent_next_name = _selected_ac->getStringValue("waypoint/name-next");
484 bool parent_waiting = _selected_ac->getBoolValue("waypoint/waiting");
485 //bool parent_restart = _selected_ac->getBoolValue("controls/restart");
487 if (parent_next_name == "END" && fp->getNextWaypoint()->getName() != "END" ){
488 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
489 << " setting END: getting new waypoints ");
492 setTunnel(_initial_tunnel);
493 if(_restart) _missed_count = 200;
494 /*} else if (parent_next_name == "WAIT" && fp->getNextWaypoint()->name != "WAIT" ){*/
495 } else if (parent_waiting && !_waiting){
496 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
497 << " setting WAIT/WAITUNTIL: getting new waypoints ");
501 } else if (parent_next_name != "WAIT" && fp->getNextWaypoint()->getName() == "WAIT"){
502 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
503 << " wait done: getting new waypoints ");
506 fp->IncrementWaypoint(false);
507 next = fp->getNextWaypoint();
509 if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
510 || next->getName() == "END"){
513 fp->IncrementWaypoint(false);
514 curr = fp->getCurrentWaypoint();
515 next = fp->getNextWaypoint();
519 } else if (_range_ft > (_x_offset +_parent_x_offset)* 4
521 SG_LOG(SG_AI, SG_ALERT, "AIGroundVeh1cle: " << _name
522 << " rescue: reforming train " << _range_ft
525 setTowAngle(0, dt, 1);
526 setSpeed(_parent_speed + (10 * sign(_parent_speed)));
528 } else if (_parent_speed > 1){
531 setTowAngle(_relbrg, dt, 1);
533 } else if (_parent_speed < -1){
538 setTowAngle(-(180 - (360 + _relbrg)), dt, 1);
540 setTowAngle(-(180 - _relbrg), dt, 1);
543 setSpeed(_parent_speed);
545 // FGAIShip::update(_dt_count);
550 // end AIGroundvehicle