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"
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 tie("controls/constants/elevation-coeff",
88 SGRawValuePointer<double>(&_elevation_coeff));
89 tie("controls/constants/pitch-coeff",
90 SGRawValuePointer<double>(&_pitch_coeff));
91 tie("position/ht-AGL-ft",
92 SGRawValuePointer<double>(&_ht_agl_ft));
93 tie("hitch/rel-bearing-deg",
94 SGRawValuePointer<double>(&_relbrg));
95 tie("hitch/tow-angle-deg",
96 SGRawValuePointer<double>(&_tow_angle));
98 SGRawValuePointer<double>(&_range_ft));
99 tie("hitch/x-offset-ft",
100 SGRawValuePointer<double>(&_x_offset));
101 tie("hitch/y-offset-ft",
102 SGRawValuePointer<double>(&_y_offset));
103 tie("hitch/z-offset-ft",
104 SGRawValuePointer<double>(&_z_offset));
105 tie("hitch/parent-x-offset-ft",
106 SGRawValuePointer<double>(&_parent_x_offset));
107 tie("hitch/parent-y-offset-ft",
108 SGRawValuePointer<double>(&_parent_y_offset));
109 tie("hitch/parent-z-offset-ft",
110 SGRawValuePointer<double>(&_parent_z_offset));
111 tie("controls/constants/tow-angle/gain",
112 SGRawValuePointer<double>(&_tow_angle_gain));
113 tie("controls/constants/tow-angle/limit-deg",
114 SGRawValuePointer<double>(&_tow_angle_limit));
115 tie("controls/contact-x1-offset-ft",
116 SGRawValuePointer<double>(&_contact_x1_offset));
117 tie("controls/contact-x2-offset-ft",
118 SGRawValuePointer<double>(&_contact_x2_offset));
121 bool FGAIGroundVehicle::init(bool search_in_AI_path) {
122 if (!FGAIShip::init(search_in_AI_path))
128 void FGAIGroundVehicle::reinit() {
133 props->setStringValue("controls/parent-name", _parent.c_str());
135 if (setParentNode()){
136 _parent_x_offset = _selected_ac->getDoubleValue("hitch/x-offset-ft");
137 _parent_y_offset = _selected_ac->getDoubleValue("hitch/y-offset-ft");
138 _parent_z_offset = _selected_ac->getDoubleValue("hitch/z-offset-ft");
139 _hitch_x_offset_m = _selected_ac->getDoubleValue("hitch/x-offset-ft")
141 _hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
143 _hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
151 void FGAIGroundVehicle::update(double dt) {
152 // SG_LOG(SG_AI, SG_ALERT, "updating GroundVehicle: " << _name );
153 FGAIShip::update(dt);
155 RunGroundVehicle(dt);
158 void FGAIGroundVehicle::setNoRoll(bool nr) {
162 void FGAIGroundVehicle::setContactX1offset(double x1) {
163 _contact_x1_offset = x1;
166 void FGAIGroundVehicle::setContactX2offset(double x2) {
167 _contact_x2_offset = x2;
170 void FGAIGroundVehicle::setXOffset(double x) {
174 void FGAIGroundVehicle::setYOffset(double y) {
178 void FGAIGroundVehicle::setZOffset(double z) {
182 void FGAIGroundVehicle::setPitchCoeff(double pc) {
186 void FGAIGroundVehicle::setElevCoeff(double ec) {
187 _elevation_coeff = ec;
190 void FGAIGroundVehicle::setTowAngleGain(double g) {
194 void FGAIGroundVehicle::setTowAngleLimit(double l) {
195 _tow_angle_limit = l;
198 void FGAIGroundVehicle::setElevation(double h, double dt, double coeff){
199 double c = dt / (coeff + dt);
200 _elevation_ft = (h * c) + (_elevation_ft * (1 - c));
203 void FGAIGroundVehicle::setPitch(double p, double dt, double coeff){
204 double c = dt / (coeff + dt);
205 _pitch_deg = (p * c) + (_pitch_deg * (1 - c));
208 void FGAIGroundVehicle::setTowAngle(double ta, double dt, double coeff){
209 ta *= _tow_angle_gain;
210 double factor = -0.0045 * speed + 1;
211 double limit = _tow_angle_limit * factor;
212 // cout << "speed "<< speed << " _factor " << _factor<<" " <<_tow_angle_limit<< endl;
213 _tow_angle = pow(ta,2) * sign(ta) * factor;
214 SG_CLAMP_RANGE(_tow_angle, -limit, limit);
217 bool FGAIGroundVehicle::getPitch() {
220 double vel = props->getDoubleValue("velocities/true-airspeed-kt", 0);
221 double contact_offset_x1_m = _contact_x1_offset * SG_FEET_TO_METER;
222 double contact_offset_x2_m = _contact_x2_offset * SG_FEET_TO_METER;
223 double _z_offset_m = _parent_z_offset * SG_FEET_TO_METER;
225 SGVec3d front(-contact_offset_x1_m, 0, 0);
226 SGVec3d rear(-contact_offset_x2_m, 0, 0);
227 SGVec3d Front = getCartPosAt(front);
228 SGVec3d Rear = getCartPosAt(rear);
230 SGGeod geodFront = SGGeod::fromCart(Front);
231 SGGeod geodRear = SGGeod::fromCart(Rear);
233 double front_elev_m = 0;
234 double rear_elev_m = 0;
235 double elev_front = 0;
236 double elev_rear = 0;
237 //double max_alt = 10000;
239 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodFront, 3000),
240 elev_front, &_material, 0)){
241 front_elev_m = elev_front + _z_offset_m;
245 if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodRear, 3000),
246 elev_rear, &_material, 0)){
247 rear_elev_m = elev_rear;
252 double diff = front_elev_m - rear_elev_m;
253 _pitch = atan2 (diff,
254 fabs(contact_offset_x1_m) + fabs(contact_offset_x2_m)) * SG_RADIANS_TO_DEGREES;
255 _elevation = (rear_elev_m + diff/2) * SG_METER_TO_FEET;
257 double diff = rear_elev_m - front_elev_m;
258 _pitch = atan2 (diff,
259 fabs(contact_offset_x1_m) + fabs(contact_offset_x2_m)) * SG_RADIANS_TO_DEGREES;
260 _elevation = (front_elev_m + diff/2) * SG_METER_TO_FEET;
266 if (prev->getAltitude() == 0 || curr->getAltitude() == 0) return false;
268 static double distance;
270 static double curr_alt;
271 static double prev_alt;
274 //cout << "new waypoint, calculating pitch " << endl;
275 curr_alt = curr->getAltitude();
276 prev_alt = prev->getAltitude();
277 //cout << "prev_alt" <<prev_alt << endl;
278 d_alt = (curr_alt - prev_alt) * SG_METER_TO_FEET;
279 //_elevation = prev->altitude;
280 distance = SGGeodesy::distanceM(SGGeod::fromDeg(prev->getLongitude(), prev->getLatitude()),
281 SGGeod::fromDeg(curr->getLongitude(), curr->getLatitude()));
282 _pitch = atan2(d_alt, distance * SG_METER_TO_FEET) * SG_RADIANS_TO_DEGREES;
283 //cout << "new waypoint, calculating pitch " << _pitch <<
284 // " " << _pitch_offset << " " << _elevation <<endl;
287 double distance_to_go = SGGeodesy::distanceM(SGGeod::fromDeg(pos.getLongitudeDeg(), pos.getLatitudeDeg()),
288 SGGeod::fromDeg(curr->getLongitude(), curr->getLatitude()));
290 /*cout << "tunnel " << _tunnel
291 << " distance prev & curr " << prev->name << " " << curr->name << " " << distance * SG_METER_TO_FEET
292 << " distance to go " << distance_to_go * SG_METER_TO_FEET
293 << " d_alt ft " << d_alt
296 if (distance_to_go > distance)
297 _elevation = prev_alt;
299 _elevation = curr_alt - (tan(_pitch * SG_DEGREES_TO_RADIANS) * distance_to_go * SG_METER_TO_FEET);
306 void FGAIGroundVehicle::setParent(){
308 double lat = _selected_ac->getDoubleValue("position/latitude-deg");
309 double lon = _selected_ac->getDoubleValue("position/longitude-deg");
310 double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
312 _selectedpos.setLatitudeDeg(lat);
313 _selectedpos.setLongitudeDeg(lon);
314 _selectedpos.setElevationFt(elevation);
316 _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
318 SGVec3d rear_hitch(-_hitch_x_offset_m, _hitch_y_offset_m, 0);
319 SGVec3d RearHitch = getCartHitchPosAt(rear_hitch);
321 SGGeod rearpos = SGGeod::fromCart(RearHitch);
323 double user_lat = rearpos.getLatitudeDeg();
324 double user_lon = rearpos.getLongitudeDeg();
326 double range, bearing;
328 calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
329 user_lat, user_lon, range, bearing);
330 _range_ft = range * 6076.11549;
331 _relbrg = calcRelBearingDeg(bearing, hdg);
334 void FGAIGroundVehicle::calcRangeBearing(double lat, double lon, double lat2, double lon2,
335 double &range, double &bearing) const
337 // calculate the bearing and range of the second pos from the first
338 double az2, distance;
339 geo_inverse_wgs_84(lat, lon, lat2, lon2, &bearing, &az2, &distance);
340 range = distance * SG_METER_TO_NM;
344 SGVec3d FGAIGroundVehicle::getCartHitchPosAt(const SGVec3d& _off) const {
345 double hdg = _selected_ac->getDoubleValue("orientation/true-heading-deg");
346 double pitch = _selected_ac->getDoubleValue("orientation/pitch-deg");
347 double roll = _selected_ac->getDoubleValue("orientation/roll-deg");
349 // Transform that one to the horizontal local coordinate system.
350 SGQuatd hlTrans = SGQuatd::fromLonLat(_selectedpos);
352 // and postrotate the orientation of the AIModel wrt the horizontal
354 hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
356 // The offset converted to the usual body fixed coordinate system
357 // rotated to the earth fiexed coordinates axis
358 SGVec3d off = hlTrans.backTransform(_off);
360 // Add the position offset of the AIModel to gain the earth centered position
361 SGVec3d cartPos = SGVec3d::fromGeod(_selectedpos);
363 return cartPos + off;
366 void FGAIGroundVehicle::AdvanceFP(){
369 string parent_next_name =_selected_ac->getStringValue("waypoint/name-next");
371 while(fp->getNextWaypoint() != 0 && fp->getNextWaypoint()->getName() != "END" && count < 5){
372 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
373 <<" advancing waypoint to: " << parent_next_name);
375 if (fp->getNextWaypoint()->getName() == parent_next_name){
376 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
377 << " not setting waypoint already at: " << fp->getNextWaypoint()->getName());
382 fp->IncrementWaypoint(false);
383 curr = fp->getCurrentWaypoint();
384 next = fp->getNextWaypoint();
386 if (fp->getNextWaypoint()->getName() == parent_next_name){
387 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
388 << " waypoint set to: " << fp->getNextWaypoint()->getName());
396 while(fp->getPreviousWaypoint() != 0 && fp->getPreviousWaypoint()->getName() != "END"
398 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
399 << " retreating waypoint to: " << parent_next_name
400 << " at: " << fp->getNextWaypoint()->getName());
402 if (fp->getNextWaypoint()->getName() == parent_next_name){
403 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
404 << " not setting waypoint already at:" << fp->getNextWaypoint()->getName() );
409 fp->DecrementWaypoint(false);
410 curr = fp->getCurrentWaypoint();
411 next = fp->getNextWaypoint();
413 if (fp->getNextWaypoint()->getName() == parent_next_name){
414 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
415 << " waypoint set to: " << fp->getNextWaypoint()->getName());
424 void FGAIGroundVehicle::setTowSpeed(){
426 //double diff = _range_ft - _x_offset;
429 if (_range_ft > _x_offset * 3) x = 50;
431 if (_relbrg < -90 || _relbrg > 90){
432 setSpeed(_parent_speed - 5 - x);
433 //cout << _name << " case 1r _relbrg spd - 5 " << _relbrg << " " << diff << endl;
434 }else if (_range_ft > _x_offset + 0.25 && _relbrg >= -90 && _relbrg <= 90){
435 setSpeed(_parent_speed + 1 + x);
436 //cout << _name << " case 2r _relbrg spd + 1 " << _relbrg << " "
437 // << diff << " range " << _range_ft << endl;
438 } else if (_range_ft < _x_offset - 0.25 && _relbrg >= -90 && _relbrg <= 90){
439 setSpeed(_parent_speed - 1 - x);
440 //cout << _name << " case 3r _relbrg spd - 2 " << _relbrg << " "
441 // << diff << " " << _range_ft << endl;
443 setSpeed(_parent_speed);
444 //cout << _name << " else r _relbrg " << _relbrg << " " << diff << endl;
449 void FGAIGroundVehicle::RunGroundVehicle(double dt){
453 ///////////////////////////////////////////////////////////////////////////
454 // Check execution time (currently once every 0.05 sec or 20 fps)
455 // Add a bit of randomization to prevent the execution of all flight plans
456 // in synchrony, which can add significant periodic framerate flutter.
457 // Randomization removed to get better appearance
458 ///////////////////////////////////////////////////////////////////////////
460 //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
461 if (_dt_count < _next_run)
464 _next_run = 0.05 /*+ (0.015 * sg_random())*/;
467 setElevation(_elevation, _dt_count, _elevation_coeff);
468 ClimbTo(_elevation_ft);
469 setPitch(_pitch, _dt_count, _pitch_coeff);
474 AccelTo(prev->getSpeed());
481 string parent_next_name = _selected_ac->getStringValue("waypoint/name-next");
482 bool parent_waiting = _selected_ac->getBoolValue("waypoint/waiting");
483 //bool parent_restart = _selected_ac->getBoolValue("controls/restart");
485 if (parent_next_name == "END" && fp->getNextWaypoint()->getName() != "END" ){
486 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
487 << " setting END: getting new waypoints ");
490 setTunnel(_initial_tunnel);
491 if(_restart) _missed_count = 200;
492 /*} else if (parent_next_name == "WAIT" && fp->getNextWaypoint()->name != "WAIT" ){*/
493 } else if (parent_waiting && !_waiting){
494 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
495 << " setting WAIT/WAITUNTIL: getting new waypoints ");
499 } else if (parent_next_name != "WAIT" && fp->getNextWaypoint()->getName() == "WAIT"){
500 SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
501 << " wait done: getting new waypoints ");
504 fp->IncrementWaypoint(false);
505 next = fp->getNextWaypoint();
507 if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
508 || next->getName() == "END"){
511 fp->IncrementWaypoint(false);
512 curr = fp->getCurrentWaypoint();
513 next = fp->getNextWaypoint();
517 } else if (_range_ft > (_x_offset +_parent_x_offset)* 4
519 SG_LOG(SG_AI, SG_ALERT, "AIGroundVeh1cle: " << _name
520 << " rescue: reforming train " << _range_ft
523 setTowAngle(0, dt, 1);
524 setSpeed(_parent_speed + (10 * sign(_parent_speed)));
526 } else if (_parent_speed > 1){
529 setTowAngle(_relbrg, dt, 1);
531 } else if (_parent_speed < -1){
536 setTowAngle(-(180 - (360 + _relbrg)), dt, 1);
538 setTowAngle(-(180 - _relbrg), dt, 1);
541 setSpeed(_parent_speed);
543 // FGAIShip::update(_dt_count);
548 // end AIGroundvehicle