src/AIModel/AIGroundVehicle.cxx

   1 // FGAIGroundVehicle - FGAIShip-derived class creates an AI Ground Vehicle
   2 // by adding a ground following utility
   3 //
   4 // Written by Vivian Meazza, started August 2009.
   5 // - vivian.meazza at lineone.net
   6 //
   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.
  11 //
  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.
  16 //
  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.
  20
  21 #ifdef HAVE_CONFIG_H
  22 #  include <config.h>
  23 #endif
  24
  25 #include <simgear/sg_inlines.h>
  26
  27 #include <Viewer/viewer.hxx>
  28 #include <Scenery/scenery.hxx>
  29 #include <Airports/dynamics.hxx>
  30
  31 #include "AIGroundVehicle.hxx"
  32
  33 using std::string;
  34
  35 FGAIGroundVehicle::FGAIGroundVehicle() :
  36 FGAIShip(otGroundVehicle),
  37
  38 _pitch(0),
  39 _pitch_deg(0),
  40 _speed_kt(0),
  41 _range_ft(0),
  42 _relbrg (0),
  43 _parent_speed(0),
  44 _parent_x_offset(0),
  45 _parent_y_offset(0),
  46 _parent_z_offset(0),
  47 _dt_count(0),
  48 _next_run(0),
  49 _break_count(0)
  50
  51 {
  52     invisible = false;
  53     _parent = "";
  54 }
  55
  56 FGAIGroundVehicle::~FGAIGroundVehicle() {}
  57
  58 void FGAIGroundVehicle::readFromScenario(SGPropertyNode* scFileNode) {
  59     if (!scFileNode)
  60         return;
  61
  62     FGAIShip::readFromScenario(scFileNode);
  63
  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));
  84 }
  85
  86 void FGAIGroundVehicle::bind() {
  87     FGAIShip::bind();
  88
  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));
  99     tie("hitch/range-ft",
 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));
 121 }
 122
 123 bool FGAIGroundVehicle::init(bool search_in_AI_path) {
 124     if (!FGAIShip::init(search_in_AI_path))
 125         return false;
 126     reinit();
 127     return true;
 128 }
 129
 130 void FGAIGroundVehicle::reinit() {
 131     invisible = false;
 132     _limit = 200;
 133     no_roll = true;
 134
 135     props->setStringValue("controls/parent-name", _parent.c_str());
 136
 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")
 142             * SG_FEET_TO_METER;
 143         _hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
 144             * SG_FEET_TO_METER;
 145         _hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
 146             * SG_FEET_TO_METER;
 147         setParent();
 148     }
 149
 150     FGAIShip::reinit();
 151 }
 152
 153 void FGAIGroundVehicle::update(double dt) {
 154     //    SG_LOG(SG_AI, SG_ALERT, "updating GroundVehicle: " << _name );
 155     FGAIShip::update(dt);
 156
 157     RunGroundVehicle(dt);
 158 }
 159
 160 void FGAIGroundVehicle::setNoRoll(bool nr) {
 161     no_roll = nr;
 162 }
 163
 164 void FGAIGroundVehicle::setContactX1offset(double x1) {
 165     _contact_x1_offset = x1;
 166 }
 167
 168 void FGAIGroundVehicle::setContactX2offset(double x2) {
 169     _contact_x2_offset = x2;
 170 }
 171
 172 void FGAIGroundVehicle::setXOffset(double x) {
 173     _x_offset = x;
 174 }
 175
 176 void FGAIGroundVehicle::setYOffset(double y) {
 177     _y_offset = y;
 178 }
 179
 180 void FGAIGroundVehicle::setZOffset(double z) {
 181     _z_offset = z;
 182 }
 183
 184 void FGAIGroundVehicle::setPitchCoeff(double pc) {
 185     _pitch_coeff = pc;
 186 }
 187
 188 void FGAIGroundVehicle::setElevCoeff(double ec) {
 189     _elevation_coeff = ec;
 190 }
 191
 192 void FGAIGroundVehicle::setTowAngleGain(double g) {
 193     _tow_angle_gain = g;
 194 }
 195
 196 void FGAIGroundVehicle::setTowAngleLimit(double l) {
 197     _tow_angle_limit = l;
 198 }
 199
 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));
 203 }
 204
 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));
 208 }
 209
 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);
 217 }
 218
 219 bool FGAIGroundVehicle::getPitch() {
 220
 221     if (!_tunnel){
 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;
 226
 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);
 231
 232         SGGeod geodFront = SGGeod::fromCart(Front);
 233         SGGeod geodRear = SGGeod::fromCart(Rear);
 234
 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;
 240
 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;
 244         } else
 245             return false;
 246
 247         if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodRear, 3000),
 248             elev_rear, NULL, 0)){
 249                 rear_elev_m = elev_rear;
 250         } else
 251             return false;
 252
 253         if (vel >= 0){
 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;
 258         } else {
 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;
 263             _pitch = -_pitch;
 264         }
 265
 266     } else {
 267
 268         if (prev->getAltitude() == 0 || curr->getAltitude() == 0) return false;
 269
 270         static double distance;
 271         static double d_alt;
 272         static double curr_alt;
 273         static double prev_alt;
 274
 275         if (_new_waypoint){
 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;
 287         }
 288
 289         double distance_to_go = SGGeodesy::distanceM(SGGeod::fromDeg(pos.getLongitudeDeg(), pos.getLatitudeDeg()),
 290             SGGeod::fromDeg(curr->getLongitude(), curr->getLatitude()));
 291
 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
 296              << endl;*/
 297
 298         if (distance_to_go > distance)
 299             _elevation = prev_alt;
 300         else
 301             _elevation = curr_alt - (tan(_pitch * SG_DEGREES_TO_RADIANS) * distance_to_go * SG_METER_TO_FEET);
 302
 303     }
 304
 305     return true;
 306 }
 307
 308 void FGAIGroundVehicle::setParent(){
 309
 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");
 313
 314     _selectedpos.setLatitudeDeg(lat);
 315     _selectedpos.setLongitudeDeg(lon);
 316     _selectedpos.setElevationFt(elevation);
 317
 318     _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
 319
 320     SGVec3d rear_hitch(-_hitch_x_offset_m, _hitch_y_offset_m, 0);
 321     SGVec3d RearHitch = getCartHitchPosAt(rear_hitch);
 322
 323     SGGeod rearpos = SGGeod::fromCart(RearHitch);
 324
 325     double user_lat = rearpos.getLatitudeDeg();
 326     double user_lon = rearpos.getLongitudeDeg();
 327
 328     double range, bearing;
 329
 330     calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
 331         user_lat, user_lon, range, bearing);
 332     _range_ft = range * 6076.11549;
 333     _relbrg = calcRelBearingDeg(bearing, hdg);
 334 }
 335
 336 void FGAIGroundVehicle::calcRangeBearing(double lat, double lon, double lat2, double lon2,
 337                             double &range, double &bearing) const
 338 {
 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;
 343 }
 344
 345
 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");
 350
 351     // Transform that one to the horizontal local coordinate system.
 352     SGQuatd hlTrans = SGQuatd::fromLonLat(_selectedpos);
 353
 354     // and postrotate the orientation of the AIModel wrt the horizontal
 355     // local frame
 356     hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
 357
 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);
 361
 362     // Add the position offset of the AIModel to gain the earth centered position
 363     SGVec3d cartPos = SGVec3d::fromGeod(_selectedpos);
 364
 365     return cartPos + off;
 366 }
 367
 368 void FGAIGroundVehicle::AdvanceFP(){
 369
 370     double count = 0;
 371     string parent_next_name =_selected_ac->getStringValue("waypoint/name-next");
 372
 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);
 376
 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());
 380             return;
 381         }
 382
 383         prev = curr;
 384         fp->IncrementWaypoint(false);
 385         curr = fp->getCurrentWaypoint();
 386         next = fp->getNextWaypoint();
 387
 388         if (fp->getNextWaypoint()->getName() == parent_next_name){
 389             SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
 390             << " waypoint set to: " << fp->getNextWaypoint()->getName());
 391             return;
 392         }
 393
 394         count++;
 395
 396     }// end while loop
 397
 398     while(fp->getPreviousWaypoint() != 0 && fp->getPreviousWaypoint()->getName() != "END"
 399         && count > -10){
 400             SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
 401             << " retreating waypoint to: " << parent_next_name
 402             << " at: " << fp->getNextWaypoint()->getName());
 403
 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() );
 407             return;
 408         }
 409
 410         prev = curr;
 411         fp->DecrementWaypoint(false);
 412         curr = fp->getCurrentWaypoint();
 413         next = fp->getNextWaypoint();
 414
 415         if (fp->getNextWaypoint()->getName() == parent_next_name){
 416             SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
 417             << " waypoint set to: " << fp->getNextWaypoint()->getName());
 418             return;
 419         }
 420
 421         count--;
 422
 423     }// end while loop
 424 }
 425
 426 void FGAIGroundVehicle::setTowSpeed(){
 427
 428     //double diff = _range_ft - _x_offset;
 429     double  x = 0;
 430
 431     if (_range_ft > _x_offset * 3) x = 50;
 432
 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;
 444     } else {
 445         setSpeed(_parent_speed);
 446         //cout << _name << " else r _relbrg " << _relbrg << " " << diff << endl;
 447     }
 448
 449 }
 450
 451 void FGAIGroundVehicle::RunGroundVehicle(double dt){
 452
 453     _dt_count += dt;
 454
 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     ///////////////////////////////////////////////////////////////////////////
 461
 462     //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
 463     if (_dt_count < _next_run)
 464         return;
 465
 466     _next_run = 0.05 /*+ (0.015 * sg_random())*/;
 467
 468     if (getPitch()){
 469         setElevation(_elevation, _dt_count, _elevation_coeff);
 470         ClimbTo(_elevation_ft);
 471         setPitch(_pitch, _dt_count, _pitch_coeff);
 472         PitchTo(_pitch_deg);
 473     }
 474
 475     if(_parent == ""){
 476         AccelTo(prev->getSpeed());
 477         _dt_count = 0;
 478         return;
 479     }
 480
 481     setParent();
 482
 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");
 486
 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 ");
 490         AdvanceFP();
 491         setWPNames();
 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 ");
 498         AdvanceFP();
 499         setWPNames();
 500         _waiting = true;
 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 ");
 504         _waiting = false;
 505         _wait_count = 0;
 506         fp->IncrementWaypoint(false);
 507         next = fp->getNextWaypoint();
 508
 509         if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
 510             || next->getName() == "END"){
 511         } else {
 512             prev = curr;
 513             fp->IncrementWaypoint(false);
 514             curr = fp->getCurrentWaypoint();
 515             next = fp->getNextWaypoint();
 516         }
 517
 518         setWPNames();
 519     } else if (_range_ft > (_x_offset +_parent_x_offset)* 4
 520         ){
 521         SG_LOG(SG_AI, SG_ALERT, "AIGroundVeh1cle: " << _name
 522             << " rescue: reforming train " << _range_ft
 523             );
 524
 525         setTowAngle(0, dt, 1);
 526         setSpeed(_parent_speed + (10 * sign(_parent_speed)));
 527
 528     } else if (_parent_speed > 1){
 529
 530         setTowSpeed();
 531         setTowAngle(_relbrg, dt, 1);
 532
 533     } else if (_parent_speed < -1){
 534
 535         setTowSpeed();
 536
 537         if (_relbrg < 0)
 538             setTowAngle(-(180 - (360 + _relbrg)), dt, 1);
 539         else
 540             setTowAngle(-(180 - _relbrg), dt, 1);
 541
 542     } else
 543         setSpeed(_parent_speed);
 544
 545 //    FGAIShip::update(_dt_count);
 546     _dt_count = 0;
 547
 548 }
 549
 550 // end AIGroundvehicle