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 <Airports/dynamics.hxx>
31 #include "AIGroundVehicle.hxx"
33 FGAIGroundVehicle::FGAIGroundVehicle() :
34 FGAIShip(otGroundVehicle),
54 FGAIGroundVehicle::~FGAIGroundVehicle() {}
56 void FGAIGroundVehicle::readFromScenario(SGPropertyNode* scFileNode) {
60 FGAIShip::readFromScenario(scFileNode);
62 setName(scFileNode->getStringValue("name", "groundvehicle"));
63 setParentName(scFileNode->getStringValue("parent", ""));
64 setNoRoll(scFileNode->getBoolValue("no-roll", true));
65 setContactX1offset(scFileNode->getDoubleValue("contact-x1-offset", 0.0));
66 setContactX2offset(scFileNode->getDoubleValue("contact-x2-offset", 0.0));
67 setXOffset(scFileNode->getDoubleValue("hitch-x-offset", 35.0));
68 setYOffset(scFileNode->getDoubleValue("hitch-y-offset", 0.0));
69 setZOffset(scFileNode->getDoubleValue("hitch-z-offset", 0.0));
70 setPitchoffset(scFileNode->getDoubleValue("pitch-offset", 0.0));
71 setRolloffset(scFileNode->getDoubleValue("roll-offset", 0.0));
72 setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0));
73 setPitchCoeff(scFileNode->getDoubleValue("pitch-coefficient", 0.1));
74 setElevCoeff(scFileNode->getDoubleValue("elevation-coefficient", 0.25));
75 setTowAngleGain(scFileNode->getDoubleValue("tow-angle-gain", 1.0));
76 setTowAngleLimit(scFileNode->getDoubleValue("tow-angle-limit-deg", 2.0));
77 setInitialTunnel(scFileNode->getBoolValue("tunnel", false));
78 //we may need these later for towed vehicles
79 // setSubID(scFileNode->getIntValue("SubID", 0));
80 // setGroundOffset(scFileNode->getDoubleValue("ground-offset", 0.0));
81 // setFormate(scFileNode->getBoolValue("formate", true));
84 void FGAIGroundVehicle::bind() {
87 props->tie("controls/constants/elevation-coeff",
88 SGRawValuePointer<double>(&_elevation_coeff));
89 props->tie("controls/constants/pitch-coeff",
90 SGRawValuePointer<double>(&_pitch_coeff));
91 props->tie("position/ht-AGL-ft",
92 SGRawValuePointer<double>(&_ht_agl_ft));
93 props->tie("hitch/rel-bearing-deg",
94 SGRawValuePointer<double>(&_relbrg));
95 props->tie("hitch/tow-angle-deg",
96 SGRawValuePointer<double>(&_tow_angle));
97 props->tie("hitch/range-ft",
98 SGRawValuePointer<double>(&_range_ft));
99 props->tie("hitch/x-offset-ft",
100 SGRawValuePointer<double>(&_x_offset));
101 props->tie("hitch/y-offset-ft",
102 SGRawValuePointer<double>(&_y_offset));
103 props->tie("hitch/z-offset-ft",
104 SGRawValuePointer<double>(&_z_offset));
105 props->tie("hitch/parent-x-offset-ft",
106 SGRawValuePointer<double>(&_parent_x_offset));
107 props->tie("hitch/parent-y-offset-ft",
108 SGRawValuePointer<double>(&_parent_y_offset));
109 props->tie("hitch/parent-z-offset-ft",
110 SGRawValuePointer<double>(&_parent_z_offset));
111 props->tie("controls/constants/tow-angle/gain",
112 SGRawValuePointer<double>(&_tow_angle_gain));
113 props->tie("controls/constants/tow-angle/limit-deg",
114 SGRawValuePointer<double>(&_tow_angle_limit));
115 props->tie("controls/contact-x1-offset-ft",
116 SGRawValuePointer<double>(&_contact_x1_offset));
117 props->tie("controls/contact-x2-offset-ft",
118 SGRawValuePointer<double>(&_contact_x2_offset));
121 void FGAIGroundVehicle::unbind() {
124 props->untie("controls/constants/elevation-coeff");
125 props->untie("controls/constants/pitch-coeff");
126 props->untie("position/ht-AGL-ft");
127 props->untie("hitch/rel-bearing-deg");
128 props->untie("hitch/tow-angle-deg");
129 props->untie("hitch/range-ft");
130 props->untie("hitch/x-offset-ft");
131 props->untie("hitch/y-offset-ft");
132 props->untie("hitch/z-offset-ft");
133 props->untie("hitch/parent-x-offset-ft");
134 props->untie("hitch/parent-y-offset-ft");
135 props->untie("hitch/parent-y-offset-ft");
136 props->untie("controls/constants/tow-angle/gain");
137 props->untie("controls/constants/tow-angle/limit-deg");
138 props->untie("controls/contact-x1-offset-ft");
139 props->untie("controls/contact-x2-offset-ft");
142 bool FGAIGroundVehicle::init(bool search_in_AI_path) {
143 if (!FGAIShip::init(search_in_AI_path))
150 props->setStringValue("controls/parent-name", _parent.c_str());
152 if (setParentNode()){
153 _parent_x_offset = _selected_ac->getDoubleValue("hitch/x-offset-ft");
154 _parent_y_offset = _selected_ac->getDoubleValue("hitch/y-offset-ft");
155 _parent_z_offset = _selected_ac->getDoubleValue("hitch/z-offset-ft");
156 _hitch_x_offset_m = _selected_ac->getDoubleValue("hitch/x-offset-ft")
158 _hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
160 _hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
168 void FGAIGroundVehicle::update(double dt) {
169 // SG_LOG(SG_GENERAL, SG_ALERT, "updating GroundVehicle: " << _name );
170 FGAIShip::update(dt);
172 RunGroundVehicle(dt);
175 void FGAIGroundVehicle::setNoRoll(bool nr) {
179 void FGAIGroundVehicle::setContactX1offset(double x1) {
180 _contact_x1_offset = x1;
183 void FGAIGroundVehicle::setContactX2offset(double x2) {
184 _contact_x2_offset = x2;
187 void FGAIGroundVehicle::setXOffset(double x) {
191 void FGAIGroundVehicle::setYOffset(double y) {
195 void FGAIGroundVehicle::setZOffset(double z) {
199 void FGAIGroundVehicle::setPitchCoeff(double pc) {
203 void FGAIGroundVehicle::setElevCoeff(double ec) {
204 _elevation_coeff = ec;
207 void FGAIGroundVehicle::setTowAngleGain(double g) {
211 void FGAIGroundVehicle::setTowAngleLimit(double l) {
212 _tow_angle_limit = l;
215 void FGAIGroundVehicle::setElevation(double h, double dt, double coeff){
216 double c = dt / (coeff + dt);
217 _elevation_ft = (h * c) + (_elevation_ft * (1 - c));
220 void FGAIGroundVehicle::setPitch(double p, double dt, double coeff){
221 double c = dt / (coeff + dt);
222 _pitch_deg = (p * c) + (_pitch_deg * (1 - c));
225 void FGAIGroundVehicle::setTowAngle(double ta, double dt, double coeff){
226 ta *= _tow_angle_gain;
227 double factor = -0.0045 * speed + 1;
228 double limit = _tow_angle_limit * factor;
229 // cout << "speed "<< speed << " _factor " << _factor<<" " <<_tow_angle_limit<< endl;
230 _tow_angle = pow(ta,2) * sign(ta) * factor;
231 SG_CLAMP_RANGE(_tow_angle, -limit, limit);
234 bool FGAIGroundVehicle::getPitch() {
237 double vel = props->getDoubleValue("velocities/true-airspeed-kt", 0);
238 double contact_offset_x1_m = _contact_x1_offset * SG_FEET_TO_METER;
239 double contact_offset_x2_m = _contact_x2_offset * SG_FEET_TO_METER;
240 double _z_offset_m = _parent_z_offset * SG_FEET_TO_METER;
242 SGVec3d front(-contact_offset_x1_m, 0, 0);
243 SGVec3d rear(-contact_offset_x2_m, 0, 0);
244 SGVec3d Front = getCartPosAt(front);
245 SGVec3d Rear = getCartPosAt(rear);
247 SGGeod geodFront = SGGeod::fromCart(Front);
248 SGGeod geodRear = SGGeod::fromCart(Rear);
250 double front_elev_m = 0;
251 double rear_elev_m = 0;
252 double elev_front = 0;
253 double elev_rear = 0;
254 //double max_alt = 10000;
256 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodFront, 3000),
257 elev_front, &_material, 0)){
258 front_elev_m = elev_front + _z_offset_m;
262 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodRear, 3000),
263 elev_rear, &_material, 0)){
264 rear_elev_m = elev_rear;
269 double diff = front_elev_m - rear_elev_m;
270 _pitch = atan2 (diff,
271 fabs(contact_offset_x1_m) + fabs(contact_offset_x2_m)) * SG_RADIANS_TO_DEGREES;
272 _elevation = (rear_elev_m + diff/2) * SG_METER_TO_FEET;
274 double diff = rear_elev_m - front_elev_m;
275 _pitch = atan2 (diff,
276 fabs(contact_offset_x1_m) + fabs(contact_offset_x2_m)) * SG_RADIANS_TO_DEGREES;
277 _elevation = (front_elev_m + diff/2) * SG_METER_TO_FEET;
283 if (prev->getAltitude() == 0 || curr->getAltitude() == 0) return false;
285 static double distance;
287 static double curr_alt;
288 static double prev_alt;
291 //cout << "new waypoint, calculating pitch " << endl;
292 curr_alt = curr->getAltitude();
293 prev_alt = prev->getAltitude();
294 //cout << "prev_alt" <<prev_alt << endl;
295 d_alt = (curr_alt - prev_alt) * SG_METER_TO_FEET;
296 //_elevation = prev->altitude;
297 distance = SGGeodesy::distanceM(SGGeod::fromDeg(prev->getLongitude(), prev->getLatitude()),
298 SGGeod::fromDeg(curr->getLongitude(), curr->getLatitude()));
299 _pitch = atan2(d_alt, distance * SG_METER_TO_FEET) * SG_RADIANS_TO_DEGREES;
300 //cout << "new waypoint, calculating pitch " << _pitch <<
301 // " " << _pitch_offset << " " << _elevation <<endl;
304 double distance_to_go = SGGeodesy::distanceM(SGGeod::fromDeg(pos.getLongitudeDeg(), pos.getLatitudeDeg()),
305 SGGeod::fromDeg(curr->getLongitude(), curr->getLatitude()));
307 /*cout << "tunnel " << _tunnel
308 << " distance prev & curr " << prev->name << " " << curr->name << " " << distance * SG_METER_TO_FEET
309 << " distance to go " << distance_to_go * SG_METER_TO_FEET
310 << " d_alt ft " << d_alt
313 if (distance_to_go > distance)
314 _elevation = prev_alt;
316 _elevation = curr_alt - (tan(_pitch * SG_DEGREES_TO_RADIANS) * distance_to_go * SG_METER_TO_FEET);
323 void FGAIGroundVehicle::setParent(){
325 double lat = _selected_ac->getDoubleValue("position/latitude-deg");
326 double lon = _selected_ac->getDoubleValue("position/longitude-deg");
327 double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
329 _selectedpos.setLatitudeDeg(lat);
330 _selectedpos.setLongitudeDeg(lon);
331 _selectedpos.setElevationFt(elevation);
333 _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
335 SGVec3d rear_hitch(-_hitch_x_offset_m, _hitch_y_offset_m, 0);
336 SGVec3d RearHitch = getCartHitchPosAt(rear_hitch);
338 SGGeod rearpos = SGGeod::fromCart(RearHitch);
340 double user_lat = rearpos.getLatitudeDeg();
341 double user_lon = rearpos.getLongitudeDeg();
343 double range, bearing;
345 calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
346 user_lat, user_lon, range, bearing);
347 _range_ft = range * 6076.11549;
348 _relbrg = calcRelBearingDeg(bearing, hdg);
351 void FGAIGroundVehicle::calcRangeBearing(double lat, double lon, double lat2, double lon2,
352 double &range, double &bearing) const
354 // calculate the bearing and range of the second pos from the first
355 double az2, distance;
356 geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
357 range = distance * SG_METER_TO_NM;
361 SGVec3d FGAIGroundVehicle::getCartHitchPosAt(const SGVec3d& _off) const {
362 double hdg = _selected_ac->getDoubleValue("orientation/true-heading-deg");
363 double pitch = _selected_ac->getDoubleValue("orientation/pitch-deg");
364 double roll = _selected_ac->getDoubleValue("orientation/roll-deg");
366 // Transform that one to the horizontal local coordinate system.
367 SGQuatd hlTrans = SGQuatd::fromLonLat(_selectedpos);
369 // and postrotate the orientation of the AIModel wrt the horizontal
371 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
373 // The offset converted to the usual body fixed coordinate system
374 // rotated to the earth fiexed coordinates axis
375 SGVec3d off = hlTrans.backTransform(_off);
377 // Add the position offset of the AIModel to gain the earth centered position
378 SGVec3d cartPos = SGVec3d::fromGeod(_selectedpos);
380 return cartPos + off;
383 void FGAIGroundVehicle::AdvanceFP(){
386 string parent_next_name =_selected_ac->getStringValue("waypoint/name-next");
388 while(fp->getNextWaypoint() != 0 && fp->getNextWaypoint()->getName() != "END" && count < 5){
389 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
390 <<" advancing waypoint to: " << parent_next_name);
392 if (fp->getNextWaypoint()->getName() == parent_next_name){
393 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
394 << " not setting waypoint already at: " << fp->getNextWaypoint()->getName());
399 fp->IncrementWaypoint(false);
400 curr = fp->getCurrentWaypoint();
401 next = fp->getNextWaypoint();
403 if (fp->getNextWaypoint()->getName() == parent_next_name){
404 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
405 << " waypoint set to: " << fp->getNextWaypoint()->getName());
413 while(fp->getPreviousWaypoint() != 0 && fp->getPreviousWaypoint()->getName() != "END"
415 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
416 << " retreating waypoint to: " << parent_next_name
417 << " at: " << fp->getNextWaypoint()->getName());
419 if (fp->getNextWaypoint()->getName() == parent_next_name){
420 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
421 << " not setting waypoint already at:" << fp->getNextWaypoint()->getName() );
426 fp->DecrementWaypoint(false);
427 curr = fp->getCurrentWaypoint();
428 next = fp->getNextWaypoint();
430 if (fp->getNextWaypoint()->getName() == parent_next_name){
431 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
432 << " waypoint set to: " << fp->getNextWaypoint()->getName());
441 void FGAIGroundVehicle::setTowSpeed(){
443 //double diff = _range_ft - _x_offset;
446 if (_range_ft > _x_offset * 3) x = 50;
448 if (_relbrg < -90 || _relbrg > 90){
449 setSpeed(_parent_speed - 5 - x);
450 //cout << _name << " case 1r _relbrg spd - 5 " << _relbrg << " " << diff << endl;
451 }else if (_range_ft > _x_offset + 0.25 && _relbrg >= -90 && _relbrg <= 90){
452 setSpeed(_parent_speed + 1 + x);
453 //cout << _name << " case 2r _relbrg spd + 1 " << _relbrg << " "
454 // << diff << " range " << _range_ft << endl;
455 } else if (_range_ft < _x_offset - 0.25 && _relbrg >= -90 && _relbrg <= 90){
456 setSpeed(_parent_speed - 1 - x);
457 //cout << _name << " case 3r _relbrg spd - 2 " << _relbrg << " "
458 // << diff << " " << _range_ft << endl;
460 setSpeed(_parent_speed);
461 //cout << _name << " else r _relbrg " << _relbrg << " " << diff << endl;
466 void FGAIGroundVehicle::RunGroundVehicle(double dt){
470 ///////////////////////////////////////////////////////////////////////////
471 // Check execution time (currently once every 0.05 sec or 20 fps)
472 // Add a bit of randomization to prevent the execution of all flight plans
473 // in synchrony, which can add significant periodic framerate flutter.
474 // Randomization removed to get better appearance
475 ///////////////////////////////////////////////////////////////////////////
477 //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
478 if (_dt_count < _next_run)
481 _next_run = 0.05 /*+ (0.015 * sg_random())*/;
484 setElevation(_elevation, _dt_count, _elevation_coeff);
485 ClimbTo(_elevation_ft);
486 setPitch(_pitch, _dt_count, _pitch_coeff);
491 AccelTo(prev->getSpeed());
498 string parent_next_name = _selected_ac->getStringValue("waypoint/name-next");
499 bool parent_waiting = _selected_ac->getBoolValue("waypoint/waiting");
500 //bool parent_restart = _selected_ac->getBoolValue("controls/restart");
502 if (parent_next_name == "END" && fp->getNextWaypoint()->getName() != "END" ){
503 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
504 << " setting END: getting new waypoints ");
507 setTunnel(_initial_tunnel);
508 if(_restart) _missed_count = 200;
509 /*} else if (parent_next_name == "WAIT" && fp->getNextWaypoint()->name != "WAIT" ){*/
510 } else if (parent_waiting && !_waiting){
511 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
512 << " setting WAIT/WAITUNTIL: getting new waypoints ");
516 } else if (parent_next_name != "WAIT" && fp->getNextWaypoint()->getName() == "WAIT"){
517 SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
518 << " wait done: getting new waypoints ");
521 fp->IncrementWaypoint(false);
522 next = fp->getNextWaypoint();
524 if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
525 || next->getName() == "END"){
528 fp->IncrementWaypoint(false);
529 curr = fp->getCurrentWaypoint();
530 next = fp->getNextWaypoint();
534 } else if (_range_ft > (_x_offset +_parent_x_offset)* 4
536 SG_LOG(SG_GENERAL, SG_ALERT, "AIGroundVeh1cle: " << _name
537 << " rescue: reforming train " << _range_ft
540 setTowAngle(0, dt, 1);
541 setSpeed(_parent_speed + (10 * sign(_parent_speed)));
543 } else if (_parent_speed > 1){
546 setTowAngle(_relbrg, dt, 1);
548 } else if (_parent_speed < -1){
553 setTowAngle(-(180 - (360 + _relbrg)), dt, 1);
555 setTowAngle(-(180 - _relbrg), dt, 1);
558 setSpeed(_parent_speed);
560 // FGAIShip::update(_dt_count);
565 // end AIGroundvehicle