1 // AIManager.cxx Based on David Luff's AIMgr:
2 // - a global management type for AI objects
4 // Written by David Culp, started October 2003.
5 // - davidculp2@comcast.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.
23 #include <simgear/math/sg_geodesy.hxx>
24 #include <simgear/props/props_io.hxx>
25 #include <simgear/structure/exception.hxx>
27 #include <Main/globals.hxx>
29 #include <Airports/simple.hxx>
30 #include <Traffic/TrafficMgr.hxx>
32 #include "AIManager.hxx"
33 #include "AIAircraft.hxx"
35 #include "AIBallistic.hxx"
36 #include "AIStorm.hxx"
37 #include "AIThermal.hxx"
38 #include "AICarrier.hxx"
39 #include "AIStatic.hxx"
40 #include "AIMultiplayer.hxx"
41 #include "AITanker.hxx"
42 #include "AIWingman.hxx"
43 #include "AIGroundVehicle.hxx"
44 #include "AIEscort.hxx"
46 FGAIManager::FGAIManager() :
47 cb_ai_bare(SGPropertyChangeCallback<FGAIManager>(this,&FGAIManager::updateLOD,
48 fgGetNode("/sim/rendering/static-lod/ai-bare", true))),
49 cb_ai_detailed(SGPropertyChangeCallback<FGAIManager>(this,&FGAIManager::updateLOD,
50 fgGetNode("/sim/rendering/static-lod/ai-detailed", true)))
55 for (unsigned i = 0; i < FGAIBase::MAX_OBJECTS; ++i)
56 mNumAiTypeModels[i] = 0;
59 FGAIManager::~FGAIManager() {
60 ai_list_iterator ai_list_itr = ai_list.begin();
62 while(ai_list_itr != ai_list.end()) {
63 (*ai_list_itr)->unbind();
70 root = fgGetNode("sim/ai", true);
72 enabled = root->getNode("enabled", true);
74 thermal_lift_node = fgGetNode("/environment/thermal-lift-fps", true);
75 wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
76 wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
78 user_latitude_node = fgGetNode("/position/latitude-deg", true);
79 user_longitude_node = fgGetNode("/position/longitude-deg", true);
80 user_altitude_node = fgGetNode("/position/altitude-ft", true);
81 user_altitude_agl_node = fgGetNode("/position/altitude-agl-ft", true);
82 user_heading_node = fgGetNode("/orientation/heading-deg", true);
83 user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
84 user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
85 user_roll_node = fgGetNode("/orientation/roll-deg", true);
86 user_speed_node = fgGetNode("/velocities/uBody-fps", true);
90 FGAIManager::postinit() {
91 // postinit, so that it can access the Nasal subsystem
92 map<string, bool> scenarios;
93 for (int i = 0 ; i < root->nChildren() ; i++) {
94 SGPropertyNode *n = root->getChild(i);
95 if (strcmp(n->getName(), "scenario"))
98 string name = n->getStringValue();
102 if (scenarios.find(name) != scenarios.end()) {
103 SG_LOG(SG_AI, SG_DEBUG, "won't load scenario '" << name << "' twice");
107 SG_LOG(SG_AI, SG_ALERT, "loading scenario '" << name << '\'');
108 processScenario(name);
109 scenarios[name] = true;
114 FGAIManager::reinit() {
117 ai_list_iterator ai_list_itr = ai_list.begin();
119 while(ai_list_itr != ai_list.end()) {
120 (*ai_list_itr)->reinit();
126 FGAIManager::bind() {
127 root = globals->get_props()->getNode("ai/models", true);
128 root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
129 &FGAIManager::getNumAiObjects));
133 FGAIManager::unbind() {
134 root->untie("count");
138 FGAIManager::update(double dt) {
139 // initialize these for finding nearest thermals
140 range_nearest = 10000.0;
143 if (!enabled->getBoolValue())
146 FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("traffic-manager");
149 ai_list_iterator ai_list_itr = ai_list.begin();
151 while(ai_list_itr != ai_list.end()) {
153 if ((*ai_list_itr)->getDie()) {
154 tmgr->release((*ai_list_itr)->getID());
156 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
157 FGAIBase *base = (*ai_list_itr).get();
158 SGPropertyNode *props = base->_getProps();
160 props->setBoolValue("valid", false);
163 // for backward compatibility reset properties, so that aircraft,
164 // which don't know the <valid> property, keep working
165 // TODO: remove after a while
166 props->setIntValue("id", -1);
167 props->setBoolValue("radar/in-range", false);
168 props->setIntValue("refuel/tanker", false);
170 ai_list_itr = ai_list.erase(ai_list_itr);
173 if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
174 FGAIBase *base = (*ai_list_itr).get();
175 processThermal((FGAIThermal*)base);
177 (*ai_list_itr)->update(_dt);
183 thermal_lift_node->setDoubleValue( strength ); // for thermals
186 /** update LOD settings of all AI/MP models */
188 FGAIManager::updateLOD(SGPropertyNode* node)
190 ai_list_iterator ai_list_itr = ai_list.begin();
191 while(ai_list_itr != ai_list.end())
193 (*ai_list_itr)->updateLOD();
199 FGAIManager::attach(FGAIBase *model)
201 //unsigned idx = mNumAiTypeModels[model->getType()];
202 const char* typeString = model->getTypeString();
203 SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
207 // find free index in the property tree, if we have
208 // more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
209 for (i = 0; i < 10000; i++) {
210 p = root->getNode(typeString, i, false);
212 if (!p || !p->getBoolValue("valid", false))
215 if (p->getIntValue("id",-1)==model->getID()) {
216 p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
220 p = root->getNode(typeString, i, true);
221 model->setManager(this, p);
222 ai_list.push_back(model);
224 ++(mNumAiTypeModels[model->getType()]);
225 model->init(model->getType()==FGAIBase::otAircraft
226 || model->getType()==FGAIBase::otMultiplayer
227 || model->getType()==FGAIBase::otStatic);
229 p->setBoolValue("valid", true);
233 FGAIManager::destroyObject( int ID ) {
234 ai_list_iterator ai_list_itr = ai_list.begin();
236 while(ai_list_itr != ai_list.end()) {
238 if ((*ai_list_itr)->getID() == ID) {
240 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
241 (*ai_list_itr)->unbind();
242 ai_list_itr = ai_list.erase(ai_list_itr);
250 FGAIManager::getNumAiObjects(void) const
256 FGAIManager::fetchUserState( void ) {
258 user_latitude = user_latitude_node->getDoubleValue();
259 user_longitude = user_longitude_node->getDoubleValue();
260 user_altitude = user_altitude_node->getDoubleValue();
261 user_heading = user_heading_node->getDoubleValue();
262 user_pitch = user_pitch_node->getDoubleValue();
263 user_yaw = user_yaw_node->getDoubleValue();
264 user_speed = user_speed_node->getDoubleValue() * 0.592484;
265 user_roll = user_roll_node->getDoubleValue();
266 wind_from_east = wind_from_east_node->getDoubleValue();
267 wind_from_north = wind_from_north_node->getDoubleValue();
268 user_altitude_agl = user_altitude_agl_node->getDoubleValue();
272 // only keep the results from the nearest thermal
274 FGAIManager::processThermal( FGAIThermal* thermal ) {
275 thermal->update(_dt);
277 if ( thermal->_getRange() < range_nearest ) {
278 range_nearest = thermal->_getRange();
279 strength = thermal->getStrength();
287 FGAIManager::processScenario( const string &filename ) {
289 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
294 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
299 for (int i = 0; i < scenarios->nChildren(); i++) {
300 SGPropertyNode* scEntry = scenarios->getChild(i);
302 if (strcmp(scEntry->getName(), "entry"))
304 std::string type = scEntry->getStringValue("type", "aircraft");
306 if (type == "tanker") { // refueling scenarios
307 FGAITanker* tanker = new FGAITanker;
308 tanker->readFromScenario(scEntry);
311 } else if (type == "wingman") {
312 FGAIWingman* wingman = new FGAIWingman;
313 wingman->readFromScenario(scEntry);
316 } else if (type == "aircraft") {
317 FGAIAircraft* aircraft = new FGAIAircraft;
318 aircraft->readFromScenario(scEntry);
321 } else if (type == "ship") {
322 FGAIShip* ship = new FGAIShip;
323 ship->readFromScenario(scEntry);
326 } else if (type == "carrier") {
327 FGAICarrier* carrier = new FGAICarrier;
328 carrier->readFromScenario(scEntry);
331 } else if (type == "groundvehicle") {
332 FGAIGroundVehicle* groundvehicle = new FGAIGroundVehicle;
333 groundvehicle->readFromScenario(scEntry);
334 attach(groundvehicle);
336 } else if (type == "escort") {
337 FGAIEscort* escort = new FGAIEscort;
338 escort->readFromScenario(scEntry);
341 } else if (type == "thunderstorm") {
342 FGAIStorm* storm = new FGAIStorm;
343 storm->readFromScenario(scEntry);
346 } else if (type == "thermal") {
347 FGAIThermal* thermal = new FGAIThermal;
348 thermal->readFromScenario(scEntry);
351 } else if (type == "ballistic") {
352 FGAIBallistic* ballistic = new FGAIBallistic;
353 ballistic->readFromScenario(scEntry);
356 } else if (type == "static") {
357 FGAIStatic* aistatic = new FGAIStatic;
358 aistatic->readFromScenario(scEntry);
367 FGAIManager::loadScenarioFile(const std::string& filename)
369 SGPath path(globals->get_fg_root());
370 path.append("AI/" + filename + ".xml");
372 SGPropertyNode_ptr root = new SGPropertyNode;
373 readProperties(path.str(), root);
375 } catch (const sg_exception &t) {
376 SG_LOG(SG_AI, SG_ALERT, "Failed to load scenario '"
377 << path.str() << "': " << t.getFormattedMessage());
383 FGAIManager::getStartPosition(const string& id, const string& pid,
384 SGGeod& geodPos, double& hdng, SGVec3d& uvw)
387 SGPropertyNode* root = fgGetNode("sim/ai", true);
388 if (!root->getNode("enabled", true)->getBoolValue())
391 for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
392 SGPropertyNode *aiEntry = root->getChild( i );
393 if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
394 string filename = aiEntry->getStringValue();
395 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
397 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
399 for (int i = 0; i < scenarios->nChildren(); i++) {
400 SGPropertyNode* scEntry = scenarios->getChild(i);
401 std::string type = scEntry->getStringValue("type");
402 std::string pnumber = scEntry->getStringValue("pennant-number");
403 std::string name = scEntry->getStringValue("name");
404 if (type == "carrier" && (pnumber == id || name == id)) {
405 SGSharedPtr<FGAICarrier> carrier = new FGAICarrier;
406 carrier->readFromScenario(scEntry);
408 if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
422 FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
424 // we specify tgt extent (ft) according to the AIObject type
425 double tgt_ht[] = {0, 50, 100, 250, 0, 100, 0, 0, 50, 50, 20, 100, 50};
426 double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 40, 200, 100};
427 ai_list_iterator ai_list_itr = ai_list.begin();
428 ai_list_iterator end = ai_list.end();
430 while (ai_list_itr != end) {
431 double tgt_alt = (*ai_list_itr)->_getAltitude();
432 int type = (*ai_list_itr)->getType();
433 tgt_ht[type] += fuse_range;
435 if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
436 || type == FGAIBase::otStorm || type == FGAIBase::otThermal ) {
437 //SG_LOG(SG_AI, SG_DEBUG, "AIManager: skipping "
438 // << fabs(tgt_alt - alt)
446 double tgt_lat = (*ai_list_itr)->_getLatitude();
447 double tgt_lon = (*ai_list_itr)->_getLongitude();
448 int id = (*ai_list_itr)->getID();
450 double range = calcRange(lat, lon, tgt_lat, tgt_lon);
452 //SG_LOG(SG_AI, SG_DEBUG, "AIManager: AI list size "
454 // << " type " << type
456 // << " range " << range
457 // //<< " bearing " << bearing
458 // << " alt " << tgt_alt
461 tgt_length[type] += fuse_range;
463 if (range < tgt_length[type]){
464 SG_LOG(SG_AI, SG_DEBUG, "AIManager: HIT! "
467 << " range " << range
468 << " alt " << tgt_alt
470 return (*ai_list_itr).get();
478 FGAIManager::calcRange(double lat, double lon, double lat2, double lon2) const
480 double course, az2, distance;
482 //calculate the bearing and range of the second pos from the first
483 geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
484 distance *= SG_METER_TO_FEET;