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 FGAIGroundVehicle::FGAIGroundVehicle() :
  34 FGAIShip(otGroundVehicle),
  35
  36 _pitch(0),
  37 _pitch_deg(0),
  38 _speed_kt(0),
  39 _range_ft(0),
  40 _relbrg (0),
  41 _parent_speed(0),
  42 _parent_x_offset(0),
  43 _parent_y_offset(0),
  44 _parent_z_offset(0),
  45 _dt_count(0),
  46 _next_run(0),
  47 _break_count(0)
  48
  49 {
  50     invisible = false;
  51     _parent = "";
  52 }
  53
  54 FGAIGroundVehicle::~FGAIGroundVehicle() {}
  55
  56 void FGAIGroundVehicle::readFromScenario(SGPropertyNode* scFileNode) {
  57     if (!scFileNode)
  58         return;
  59
  60     FGAIShip::readFromScenario(scFileNode);
  61
  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));
  82 }
  83
  84 void FGAIGroundVehicle::bind() {
  85     FGAIShip::bind();
  86
  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));
  97     tie("hitch/range-ft",
  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));
 119 }
 120
 121 bool FGAIGroundVehicle::init(bool search_in_AI_path) {
 122     if (!FGAIShip::init(search_in_AI_path))
 123         return false;
 124     reinit();
 125     return true;
 126 }
 127
 128 void FGAIGroundVehicle::reinit() {
 129     invisible = false;
 130     _limit = 200;
 131     no_roll = true;
 132
 133     props->setStringValue("controls/parent-name", _parent.c_str());
 134
 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")
 140             * SG_FEET_TO_METER;
 141         _hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
 142             * SG_FEET_TO_METER;
 143         _hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
 144             * SG_FEET_TO_METER;
 145         setParent();
 146     }
 147
 148     FGAIShip::reinit();
 149 }
 150
 151 void FGAIGroundVehicle::update(double dt) {
 152     //    SG_LOG(SG_AI, SG_ALERT, "updating GroundVehicle: " << _name );
 153     FGAIShip::update(dt);
 154
 155     RunGroundVehicle(dt);
 156 }
 157
 158 void FGAIGroundVehicle::setNoRoll(bool nr) {
 159     no_roll = nr;
 160 }
 161
 162 void FGAIGroundVehicle::setContactX1offset(double x1) {
 163     _contact_x1_offset = x1;
 164 }
 165
 166 void FGAIGroundVehicle::setContactX2offset(double x2) {
 167     _contact_x2_offset = x2;
 168 }
 169
 170 void FGAIGroundVehicle::setXOffset(double x) {
 171     _x_offset = x;
 172 }
 173
 174 void FGAIGroundVehicle::setYOffset(double y) {
 175     _y_offset = y;
 176 }
 177
 178 void FGAIGroundVehicle::setZOffset(double z) {
 179     _z_offset = z;
 180 }
 181
 182 void FGAIGroundVehicle::setPitchCoeff(double pc) {
 183     _pitch_coeff = pc;
 184 }
 185
 186 void FGAIGroundVehicle::setElevCoeff(double ec) {
 187     _elevation_coeff = ec;
 188 }
 189
 190 void FGAIGroundVehicle::setTowAngleGain(double g) {
 191     _tow_angle_gain = g;
 192 }
 193
 194 void FGAIGroundVehicle::setTowAngleLimit(double l) {
 195     _tow_angle_limit = l;
 196 }
 197
 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));
 201 }
 202
 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));
 206 }
 207
 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);
 215 }
 216
 217 bool FGAIGroundVehicle::getPitch() {
 218
 219     if (!_tunnel){
 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;
 224
 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);
 229
 230         SGGeod geodFront = SGGeod::fromCart(Front);
 231         SGGeod geodRear = SGGeod::fromCart(Rear);
 232
 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;
 238
 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;
 242         } else
 243             return false;
 244
 245         if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodRear, 3000),
 246             elev_rear, &_material, 0)){
 247                 rear_elev_m = elev_rear;
 248         } else
 249             return false;
 250
 251         if (vel >= 0){
 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;
 256         } else {
 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;
 261             _pitch = -_pitch;
 262         }
 263
 264     } else {
 265
 266         if (prev->getAltitude() == 0 || curr->getAltitude() == 0) return false;
 267
 268         static double distance;
 269         static double d_alt;
 270         static double curr_alt;
 271         static double prev_alt;
 272
 273         if (_new_waypoint){
 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;
 285         }
 286
 287         double distance_to_go = SGGeodesy::distanceM(SGGeod::fromDeg(pos.getLongitudeDeg(), pos.getLatitudeDeg()),
 288             SGGeod::fromDeg(curr->getLongitude(), curr->getLatitude()));
 289
 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
 294              << endl;*/
 295
 296         if (distance_to_go > distance)
 297             _elevation = prev_alt;
 298         else
 299             _elevation = curr_alt - (tan(_pitch * SG_DEGREES_TO_RADIANS) * distance_to_go * SG_METER_TO_FEET);
 300
 301     }
 302
 303     return true;
 304 }
 305
 306 void FGAIGroundVehicle::setParent(){
 307
 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");
 311
 312     _selectedpos.setLatitudeDeg(lat);
 313     _selectedpos.setLongitudeDeg(lon);
 314     _selectedpos.setElevationFt(elevation);
 315
 316     _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
 317
 318     SGVec3d rear_hitch(-_hitch_x_offset_m, _hitch_y_offset_m, 0);
 319     SGVec3d RearHitch = getCartHitchPosAt(rear_hitch);
 320
 321     SGGeod rearpos = SGGeod::fromCart(RearHitch);
 322
 323     double user_lat = rearpos.getLatitudeDeg();
 324     double user_lon = rearpos.getLongitudeDeg();
 325
 326     double range, bearing;
 327
 328     calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
 329         user_lat, user_lon, range, bearing);
 330     _range_ft = range * 6076.11549;
 331     _relbrg = calcRelBearingDeg(bearing, hdg);
 332 }
 333
 334 void FGAIGroundVehicle::calcRangeBearing(double lat, double lon, double lat2, double lon2,
 335                             double &range, double &bearing) const
 336 {
 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;
 341 }
 342
 343
 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");
 348
 349     // Transform that one to the horizontal local coordinate system.
 350     SGQuatd hlTrans = SGQuatd::fromLonLat(_selectedpos);
 351
 352     // and postrotate the orientation of the AIModel wrt the horizontal
 353     // local frame
 354     hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
 355
 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);
 359
 360     // Add the position offset of the AIModel to gain the earth centered position
 361     SGVec3d cartPos = SGVec3d::fromGeod(_selectedpos);
 362
 363     return cartPos + off;
 364 }
 365
 366 void FGAIGroundVehicle::AdvanceFP(){
 367
 368     double count = 0;
 369     string parent_next_name =_selected_ac->getStringValue("waypoint/name-next");
 370
 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);
 374
 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());
 378             return;
 379         }
 380
 381         prev = curr;
 382         fp->IncrementWaypoint(false);
 383         curr = fp->getCurrentWaypoint();
 384         next = fp->getNextWaypoint();
 385
 386         if (fp->getNextWaypoint()->getName() == parent_next_name){
 387             SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
 388             << " waypoint set to: " << fp->getNextWaypoint()->getName());
 389             return;
 390         }
 391
 392         count++;
 393
 394     }// end while loop
 395
 396     while(fp->getPreviousWaypoint() != 0 && fp->getPreviousWaypoint()->getName() != "END"
 397         && count > -10){
 398             SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
 399             << " retreating waypoint to: " << parent_next_name
 400             << " at: " << fp->getNextWaypoint()->getName());
 401
 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() );
 405             return;
 406         }
 407
 408         prev = curr;
 409         fp->DecrementWaypoint(false);
 410         curr = fp->getCurrentWaypoint();
 411         next = fp->getNextWaypoint();
 412
 413         if (fp->getNextWaypoint()->getName() == parent_next_name){
 414             SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
 415             << " waypoint set to: " << fp->getNextWaypoint()->getName());
 416             return;
 417         }
 418
 419         count--;
 420
 421     }// end while loop
 422 }
 423
 424 void FGAIGroundVehicle::setTowSpeed(){
 425
 426     //double diff = _range_ft - _x_offset;
 427     double  x = 0;
 428
 429     if (_range_ft > _x_offset * 3) x = 50;
 430
 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;
 442     } else {
 443         setSpeed(_parent_speed);
 444         //cout << _name << " else r _relbrg " << _relbrg << " " << diff << endl;
 445     }
 446
 447 }
 448
 449 void FGAIGroundVehicle::RunGroundVehicle(double dt){
 450
 451     _dt_count += dt;
 452
 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     ///////////////////////////////////////////////////////////////////////////
 459
 460     //cout << "_start_sec " << _start_sec << " time_sec " << time_sec << endl;
 461     if (_dt_count < _next_run)
 462         return;
 463
 464     _next_run = 0.05 /*+ (0.015 * sg_random())*/;
 465
 466     if (getPitch()){
 467         setElevation(_elevation, _dt_count, _elevation_coeff);
 468         ClimbTo(_elevation_ft);
 469         setPitch(_pitch, _dt_count, _pitch_coeff);
 470         PitchTo(_pitch_deg);
 471     }
 472
 473     if(_parent == ""){
 474         AccelTo(prev->getSpeed());
 475         _dt_count = 0;
 476         return;
 477     }
 478
 479     setParent();
 480
 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");
 484
 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 ");
 488         AdvanceFP();
 489         setWPNames();
 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 ");
 496         AdvanceFP();
 497         setWPNames();
 498         _waiting = true;
 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 ");
 502         _waiting = false;
 503         _wait_count = 0;
 504         fp->IncrementWaypoint(false);
 505         next = fp->getNextWaypoint();
 506
 507         if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
 508             || next->getName() == "END"){
 509         } else {
 510             prev = curr;
 511             fp->IncrementWaypoint(false);
 512             curr = fp->getCurrentWaypoint();
 513             next = fp->getNextWaypoint();
 514         }
 515
 516         setWPNames();
 517     } else if (_range_ft > (_x_offset +_parent_x_offset)* 4
 518         ){
 519         SG_LOG(SG_AI, SG_ALERT, "AIGroundVeh1cle: " << _name
 520             << " rescue: reforming train " << _range_ft
 521             );
 522
 523         setTowAngle(0, dt, 1);
 524         setSpeed(_parent_speed + (10 * sign(_parent_speed)));
 525
 526     } else if (_parent_speed > 1){
 527
 528         setTowSpeed();
 529         setTowAngle(_relbrg, dt, 1);
 530
 531     } else if (_parent_speed < -1){
 532
 533         setTowSpeed();
 534
 535         if (_relbrg < 0)
 536             setTowAngle(-(180 - (360 + _relbrg)), dt, 1);
 537         else
 538             setTowAngle(-(180 - _relbrg), dt, 1);
 539
 540     } else
 541         setSpeed(_parent_speed);
 542
 543 //    FGAIShip::update(_dt_count);
 544     _dt_count = 0;
 545
 546 }
 547
 548 // end AIGroundvehicle