1 // FGAIGroundVehicle - FGAIShip-derived class creates an AI Ground Vehicle
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2 // by adding a ground following utility
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4 // Written by Vivian Meazza, started August 2009.
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5 // - vivian.meazza at lineone.net
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7 // This program is free software; you can redistribute it and/or
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8 // modify it under the terms of the GNU General Public License as
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9 // published by the Free Software Foundation; either version 2 of the
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10 // License, or (at your option) any later version.
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12 // This program is distributed in the hope that it will be useful, but
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13 // WITHOUT ANY WARRANTY; without even the implied warranty of
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14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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15 // General Public License for more details.
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17 // You should have received a copy of the GNU General Public License
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18 // along with this program; if not, write to the Free Software
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19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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21 #ifndef _FG_AIGROUNDVEHICLE_HXX
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22 #define _FG_AIGROUNDVEHICLE_HXX
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26 #include <simgear/structure/SGSharedPtr.hxx>
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27 #include <simgear/scene/material/mat.hxx>
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29 #include "AIShip.hxx"
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31 #include "AIManager.hxx"
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32 #include "AIBase.hxx"
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34 class FGAIGroundVehicle : public FGAIShip {
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36 FGAIGroundVehicle();
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37 virtual ~FGAIGroundVehicle();
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39 virtual void readFromScenario(SGPropertyNode* scFileNode);
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40 virtual void bind();
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41 virtual void unbind();
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42 virtual const char* getTypeString(void) const { return "groundvehicle"; }
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44 bool init(bool search_in_AI_path=false);
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48 virtual void reinit() { init(); }
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49 virtual void update (double dt);
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51 void setNoRoll(bool nr);
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52 void setContactX1offset(double x1);
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53 void setContactX2offset(double x2);
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54 void setXOffset(double x);
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55 void setYOffset(double y);
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56 void setZOffset(double z);
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58 void setPitchCoeff(double pc);
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59 void setElevCoeff(double ec);
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60 void setTowAngleGain(double g);
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61 void setTowAngleLimit(double l);
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62 void setElevation(double _elevation, double dt, double _elevation_coeff);
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63 void setPitch(double _pitch, double dt, double _pitch_coeff);
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64 void setTowAngle(double _relbrg, double dt, double _towangle_coeff);
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65 void setParentName(const string& p);
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66 void setTrainSpeed(double s, double dt, double coeff);
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68 void setParentNode();
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71 void RunGroundVehicle(double dt);
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73 bool getGroundElev(SGGeod inpos);
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76 SGVec3d getCartHitchPosAt(const SGVec3d& off) const;
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78 void calcRangeBearing(double lat, double lon, double lat2, double lon2,
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79 double &range, double &bearing) const;
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80 double calcRelBearingDeg(double bearing, double heading);
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82 SGGeod _selectedpos;
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84 bool _solid; // if true ground is solid for FDMs
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85 double _load_resistance; // ground load resistanc N/m^2
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86 double _frictionFactor; // dimensionless modifier for Coefficient of Friction
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87 double _elevation, _elevation_coeff;
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88 double _tow_angle_gain, _tow_angle_limit;
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90 double _contact_x1_offset, _contact_x2_offset, _contact_z_offset;
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91 double _pitch, _pitch_coeff, _pitch_deg;
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92 double _speed_coeff, _speed_kt;
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93 double _x_offset, _y_offset;
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96 double _parent_speed, _parent_x_offset, _parent_y_offset, _parent_z_offset;
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97 double _hitch_x_offset_m, _hitch_y_offset_m, _hitch_z_offset_m;
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98 double _dt_count, _next_run, _break_count;
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100 const SGMaterial* _material;
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101 SGPropertyNode_ptr _selected_ac;
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107 #endif // FG_AIGROUNDVEHICLE_HXX
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