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.
21 #include <simgear/math/sg_geodesy.hxx>
22 #include <simgear/props/props_io.hxx>
23 #include <simgear/structure/exception.hxx>
25 #include <Main/globals.hxx>
27 #include <Airports/simple.hxx>
28 #include <Traffic/TrafficMgr.hxx>
30 #include "AIManager.hxx"
31 #include "AIAircraft.hxx"
33 #include "AIBallistic.hxx"
34 #include "AIStorm.hxx"
35 #include "AIThermal.hxx"
36 #include "AICarrier.hxx"
37 #include "AIStatic.hxx"
38 #include "AIMultiplayer.hxx"
39 #include "AITanker.hxx"
40 #include "AIWingman.hxx"
42 FGAIManager::FGAIManager() {
46 for (unsigned i = 0; i < FGAIBase::MAX_OBJECTS; ++i)
47 mNumAiTypeModels[i] = 0;
50 FGAIManager::~FGAIManager() {
51 ai_list_iterator ai_list_itr = ai_list.begin();
53 while(ai_list_itr != ai_list.end()) {
54 (*ai_list_itr)->unbind();
61 root = fgGetNode("sim/ai", true);
63 enabled = root->getNode("enabled", true)->getBoolValue();
68 thermal_lift_node = fgGetNode("/environment/thermal-lift-fps", true);
69 wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
70 wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
72 user_latitude_node = fgGetNode("/position/latitude-deg", true);
73 user_longitude_node = fgGetNode("/position/longitude-deg", true);
74 user_altitude_node = fgGetNode("/position/altitude-ft", true);
75 user_heading_node = fgGetNode("/orientation/heading-deg", true);
76 user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
77 user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
78 user_roll_node = fgGetNode("/orientation/roll-deg", true);
79 user_speed_node = fgGetNode("/velocities/uBody-fps", true);
83 FGAIManager::postinit() {
84 // postinit, so that it can access the Nasal subsystem
85 map<string, bool> scenarios;
86 for (int i = 0 ; i < root->nChildren() ; i++) {
87 SGPropertyNode *n = root->getChild(i);
88 if (strcmp(n->getName(), "scenario"))
91 string name = n->getStringValue();
95 if (scenarios.find(name) != scenarios.end()) {
96 SG_LOG(SG_GENERAL, SG_WARN, "won't load scenario '" << name << "' twice");
100 SG_LOG(SG_GENERAL, SG_INFO, "loading scenario '" << name << '\'');
101 processScenario(name);
102 scenarios[name] = true;
107 FGAIManager::reinit() {
109 ai_list_iterator ai_list_itr = ai_list.begin();
111 while(ai_list_itr != ai_list.end()) {
112 (*ai_list_itr)->reinit();
118 FGAIManager::bind() {
119 root = globals->get_props()->getNode("ai/models", true);
120 root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
121 &FGAIManager::getNumAiObjects));
125 FGAIManager::unbind() {
126 root->untie("count");
130 FGAIManager::update(double dt) {
131 // initialize these for finding nearest thermals
132 range_nearest = 10000.0;
138 FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
141 ai_list_iterator ai_list_itr = ai_list.begin();
143 while(ai_list_itr != ai_list.end()) {
145 if ((*ai_list_itr)->getDie()) {
146 tmgr->release((*ai_list_itr)->getID());
148 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
149 FGAIBase *base = (*ai_list_itr).get();
150 SGPropertyNode *props = base->_getProps();
152 props->setBoolValue("valid", false);
155 // for backward compatibility reset properties, so that aircraft,
156 // which don't know the <valid> property, keep working
157 // TODO: remove after a while
158 props->setIntValue("id", -1);
159 props->setBoolValue("radar/in-range", false);
160 props->setIntValue("refuel/tanker", false);
162 ai_list_itr = ai_list.erase(ai_list_itr);
165 if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
166 FGAIBase *base = (*ai_list_itr).get();
167 processThermal((FGAIThermal*)base);
169 (*ai_list_itr)->update(_dt);
175 thermal_lift_node->setDoubleValue( strength ); // for thermals
179 FGAIManager::attach(FGAIBase *model)
181 //unsigned idx = mNumAiTypeModels[model->getType()];
182 const char* typeString = model->getTypeString();
183 SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
187 // find free index in the property tree, if we have
188 // more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
189 for (i = 0; i < 10000; i++) {
190 p = root->getNode(typeString, i, false);
192 if (!p || !p->getBoolValue("valid", false))
195 if (p->getIntValue("id",-1)==model->getID()) {
196 p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
200 p = root->getNode(typeString, i, true);
201 model->setManager(this, p);
202 ai_list.push_back(model);
204 ++(mNumAiTypeModels[model->getType()]);
205 model->init(model->getType()==FGAIBase::otAircraft
206 || model->getType()==FGAIBase::otMultiplayer
207 || model->getType()==FGAIBase::otStatic);
209 p->setBoolValue("valid", true);
213 FGAIManager::destroyObject( int ID ) {
214 ai_list_iterator ai_list_itr = ai_list.begin();
216 while(ai_list_itr != ai_list.end()) {
218 if ((*ai_list_itr)->getID() == ID) {
220 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
221 (*ai_list_itr)->unbind();
222 ai_list_itr = ai_list.erase(ai_list_itr);
230 FGAIManager::getNumAiObjects(void) const
236 FGAIManager::fetchUserState( void ) {
237 user_latitude = user_latitude_node->getDoubleValue();
238 user_longitude = user_longitude_node->getDoubleValue();
239 user_altitude = user_altitude_node->getDoubleValue();
240 user_heading = user_heading_node->getDoubleValue();
241 user_pitch = user_pitch_node->getDoubleValue();
242 user_yaw = user_yaw_node->getDoubleValue();
243 user_speed = user_speed_node->getDoubleValue() * 0.592484;
244 user_roll = user_roll_node->getDoubleValue();
245 wind_from_east = wind_from_east_node->getDoubleValue();
246 wind_from_north = wind_from_north_node->getDoubleValue();
249 // only keep the results from the nearest thermal
251 FGAIManager::processThermal( FGAIThermal* thermal ) {
252 thermal->update(_dt);
254 if ( thermal->_getRange() < range_nearest ) {
255 range_nearest = thermal->_getRange();
256 strength = thermal->getStrength();
264 FGAIManager::processScenario( const string &filename ) {
266 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
271 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
276 for (int i = 0; i < scenarios->nChildren(); i++) {
277 SGPropertyNode* scEntry = scenarios->getChild(i);
279 if (strcmp(scEntry->getName(), "entry"))
281 std::string type = scEntry->getStringValue("type", "aircraft");
283 if (type == "tanker") { // refueling scenarios
284 FGAITanker* tanker = new FGAITanker;
285 tanker->readFromScenario(scEntry);
288 } else if (type == "wingman") {
289 FGAIWingman* wingman = new FGAIWingman;
290 wingman->readFromScenario(scEntry);
293 } else if (type == "aircraft") {
294 FGAIAircraft* aircraft = new FGAIAircraft;
295 aircraft->readFromScenario(scEntry);
298 } else if (type == "ship") {
299 FGAIShip* ship = new FGAIShip;
300 ship->readFromScenario(scEntry);
303 } else if (type == "carrier") {
304 FGAICarrier* carrier = new FGAICarrier;
305 carrier->readFromScenario(scEntry);
308 } else if (type == "thunderstorm") {
309 FGAIStorm* storm = new FGAIStorm;
310 storm->readFromScenario(scEntry);
313 } else if (type == "thermal") {
314 FGAIThermal* thermal = new FGAIThermal;
315 thermal->readFromScenario(scEntry);
318 } else if (type == "ballistic") {
319 FGAIBallistic* ballistic = new FGAIBallistic;
320 ballistic->readFromScenario(scEntry);
323 } else if (type == "static") {
324 FGAIStatic* aistatic = new FGAIStatic;
325 aistatic->readFromScenario(scEntry);
333 FGAIManager::loadScenarioFile(const std::string& filename)
335 SGPath path(globals->get_fg_root());
336 path.append("AI/" + filename + ".xml");
338 SGPropertyNode_ptr root = new SGPropertyNode;
339 readProperties(path.str(), root);
341 } catch (const sg_exception &) {
342 SG_LOG(SG_GENERAL, SG_DEBUG, "Incorrect path specified for AI "
343 "scenario: \"" << path.str() << "\"");
349 FGAIManager::getStartPosition(const string& id, const string& pid,
350 SGGeod& geodPos, double& hdng, SGVec3d& uvw)
353 SGPropertyNode* root = fgGetNode("sim/ai", true);
354 if (!root->getNode("enabled", true)->getBoolValue())
357 for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
358 SGPropertyNode *aiEntry = root->getChild( i );
359 if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
360 string filename = aiEntry->getStringValue();
361 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
363 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
365 for (int i = 0; i < scenarios->nChildren(); i++) {
366 SGPropertyNode* scEntry = scenarios->getChild(i);
367 std::string type = scEntry->getStringValue("type");
368 std::string pnumber = scEntry->getStringValue("pennant-number");
369 std::string name = scEntry->getStringValue("name");
370 if (type == "carrier" && (pnumber == id || name == id)) {
371 osg::ref_ptr<FGAICarrier> carrier = new FGAICarrier;
372 carrier->readFromScenario(scEntry);
374 if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
388 FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
390 // we specify tgt extent (ft) according to the AIObject type
391 double tgt_ht[] = {0, 50 ,100, 250, 0, 100, 0, 0, 50, 50, 50};
392 double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 100};
393 ai_list_iterator ai_list_itr = ai_list.begin();
394 ai_list_iterator end = ai_list.end();
396 while (ai_list_itr != end) {
397 double tgt_alt = (*ai_list_itr)->_getAltitude();
398 int type = (*ai_list_itr)->getType();
399 tgt_ht[type] += fuse_range;
401 if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
402 || type == FGAIBase::otStorm || type == FGAIBase::otThermal ) {
403 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: skipping "
404 << fabs(tgt_alt - alt)
412 double tgt_lat = (*ai_list_itr)->_getLatitude();
413 double tgt_lon = (*ai_list_itr)->_getLongitude();
414 int id = (*ai_list_itr)->getID();
416 double range = calcRange(lat, lon, tgt_lat, tgt_lon);
418 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: AI list size "
422 << " range " << range
423 //<< " bearing " << bearing
424 << " alt " << tgt_alt
427 tgt_length[type] += fuse_range;
429 if (range < tgt_length[type]){
430 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: HIT! "
433 << " range " << range
434 << " alt " << tgt_alt
436 return (*ai_list_itr).get();
444 FGAIManager::calcRange(double lat, double lon, double lat2, double lon2) const
446 double course, az2, distance;
448 //calculate the bearing and range of the second pos from the first
449 geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
450 distance *= SG_METER_TO_FEET;