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
93 if (!root->getBoolValue("scenarios-enabled", true))
96 // scenarios enabled, AI subsystem required
97 if (!enabled->getBoolValue())
98 enabled->setBoolValue(true);
100 // process all scenarios
101 map<string, bool> scenarios;
102 for (int i = 0 ; i < root->nChildren() ; i++) {
103 SGPropertyNode *n = root->getChild(i);
104 if (strcmp(n->getName(), "scenario"))
107 string name = n->getStringValue();
111 if (scenarios.find(name) != scenarios.end()) {
112 SG_LOG(SG_AI, SG_DEBUG, "won't load scenario '" << name << "' twice");
116 SG_LOG(SG_AI, SG_ALERT, "loading scenario '" << name << '\'');
117 processScenario(name);
118 scenarios[name] = true;
123 FGAIManager::reinit() {
126 ai_list_iterator ai_list_itr = ai_list.begin();
128 while(ai_list_itr != ai_list.end()) {
129 (*ai_list_itr)->reinit();
135 FGAIManager::bind() {
136 root = globals->get_props()->getNode("ai/models", true);
137 root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
138 &FGAIManager::getNumAiObjects));
142 FGAIManager::unbind() {
143 root->untie("count");
147 FGAIManager::update(double dt) {
148 // initialize these for finding nearest thermals
149 range_nearest = 10000.0;
152 if (!enabled->getBoolValue())
155 FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("traffic-manager");
158 ai_list_iterator ai_list_itr = ai_list.begin();
160 while(ai_list_itr != ai_list.end()) {
162 if ((*ai_list_itr)->getDie()) {
163 tmgr->release((*ai_list_itr)->getID());
165 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
166 FGAIBase *base = (*ai_list_itr).get();
167 SGPropertyNode *props = base->_getProps();
169 props->setBoolValue("valid", false);
172 // for backward compatibility reset properties, so that aircraft,
173 // which don't know the <valid> property, keep working
174 // TODO: remove after a while
175 props->setIntValue("id", -1);
176 props->setBoolValue("radar/in-range", false);
177 props->setIntValue("refuel/tanker", false);
179 ai_list_itr = ai_list.erase(ai_list_itr);
182 if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
183 FGAIBase *base = (*ai_list_itr).get();
184 processThermal((FGAIThermal*)base);
186 (*ai_list_itr)->update(_dt);
192 thermal_lift_node->setDoubleValue( strength ); // for thermals
195 /** update LOD settings of all AI/MP models */
197 FGAIManager::updateLOD(SGPropertyNode* node)
199 ai_list_iterator ai_list_itr = ai_list.begin();
200 while(ai_list_itr != ai_list.end())
202 (*ai_list_itr)->updateLOD();
208 FGAIManager::attach(FGAIBase *model)
210 //unsigned idx = mNumAiTypeModels[model->getType()];
211 const char* typeString = model->getTypeString();
212 SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
216 // find free index in the property tree, if we have
217 // more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
218 for (i = 0; i < 10000; i++) {
219 p = root->getNode(typeString, i, false);
221 if (!p || !p->getBoolValue("valid", false))
224 if (p->getIntValue("id",-1)==model->getID()) {
225 p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
229 p = root->getNode(typeString, i, true);
230 model->setManager(this, p);
231 ai_list.push_back(model);
233 ++(mNumAiTypeModels[model->getType()]);
234 model->init(model->getType()==FGAIBase::otAircraft
235 || model->getType()==FGAIBase::otMultiplayer
236 || model->getType()==FGAIBase::otStatic);
238 p->setBoolValue("valid", true);
242 FGAIManager::destroyObject( int ID ) {
243 ai_list_iterator ai_list_itr = ai_list.begin();
245 while(ai_list_itr != ai_list.end()) {
247 if ((*ai_list_itr)->getID() == ID) {
249 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
250 (*ai_list_itr)->unbind();
251 ai_list_itr = ai_list.erase(ai_list_itr);
259 FGAIManager::getNumAiObjects(void) const
265 FGAIManager::fetchUserState( void ) {
267 user_latitude = user_latitude_node->getDoubleValue();
268 user_longitude = user_longitude_node->getDoubleValue();
269 user_altitude = user_altitude_node->getDoubleValue();
270 user_heading = user_heading_node->getDoubleValue();
271 user_pitch = user_pitch_node->getDoubleValue();
272 user_yaw = user_yaw_node->getDoubleValue();
273 user_speed = user_speed_node->getDoubleValue() * 0.592484;
274 user_roll = user_roll_node->getDoubleValue();
275 wind_from_east = wind_from_east_node->getDoubleValue();
276 wind_from_north = wind_from_north_node->getDoubleValue();
277 user_altitude_agl = user_altitude_agl_node->getDoubleValue();
281 // only keep the results from the nearest thermal
283 FGAIManager::processThermal( FGAIThermal* thermal ) {
284 thermal->update(_dt);
286 if ( thermal->_getRange() < range_nearest ) {
287 range_nearest = thermal->_getRange();
288 strength = thermal->getStrength();
296 FGAIManager::processScenario( const string &filename ) {
298 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
303 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
308 for (int i = 0; i < scenarios->nChildren(); i++) {
309 SGPropertyNode* scEntry = scenarios->getChild(i);
311 if (strcmp(scEntry->getName(), "entry"))
313 std::string type = scEntry->getStringValue("type", "aircraft");
315 if (type == "tanker") { // refueling scenarios
316 FGAITanker* tanker = new FGAITanker;
317 tanker->readFromScenario(scEntry);
320 } else if (type == "wingman") {
321 FGAIWingman* wingman = new FGAIWingman;
322 wingman->readFromScenario(scEntry);
325 } else if (type == "aircraft") {
326 FGAIAircraft* aircraft = new FGAIAircraft;
327 aircraft->readFromScenario(scEntry);
330 } else if (type == "ship") {
331 FGAIShip* ship = new FGAIShip;
332 ship->readFromScenario(scEntry);
335 } else if (type == "carrier") {
336 FGAICarrier* carrier = new FGAICarrier;
337 carrier->readFromScenario(scEntry);
340 } else if (type == "groundvehicle") {
341 FGAIGroundVehicle* groundvehicle = new FGAIGroundVehicle;
342 groundvehicle->readFromScenario(scEntry);
343 attach(groundvehicle);
345 } else if (type == "escort") {
346 FGAIEscort* escort = new FGAIEscort;
347 escort->readFromScenario(scEntry);
350 } else if (type == "thunderstorm") {
351 FGAIStorm* storm = new FGAIStorm;
352 storm->readFromScenario(scEntry);
355 } else if (type == "thermal") {
356 FGAIThermal* thermal = new FGAIThermal;
357 thermal->readFromScenario(scEntry);
360 } else if (type == "ballistic") {
361 FGAIBallistic* ballistic = new FGAIBallistic;
362 ballistic->readFromScenario(scEntry);
365 } else if (type == "static") {
366 FGAIStatic* aistatic = new FGAIStatic;
367 aistatic->readFromScenario(scEntry);
376 FGAIManager::loadScenarioFile(const std::string& filename)
378 SGPath path(globals->get_fg_root());
379 path.append("AI/" + filename + ".xml");
381 SGPropertyNode_ptr root = new SGPropertyNode;
382 readProperties(path.str(), root);
384 } catch (const sg_exception &t) {
385 SG_LOG(SG_AI, SG_ALERT, "Failed to load scenario '"
386 << path.str() << "': " << t.getFormattedMessage());
392 FGAIManager::getStartPosition(const string& id, const string& pid,
393 SGGeod& geodPos, double& hdng, SGVec3d& uvw)
396 SGPropertyNode* root = fgGetNode("sim/ai", true);
397 if (!root->getNode("enabled", true)->getBoolValue())
400 for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
401 SGPropertyNode *aiEntry = root->getChild( i );
402 if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
403 string filename = aiEntry->getStringValue();
404 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
406 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
408 for (int i = 0; i < scenarios->nChildren(); i++) {
409 SGPropertyNode* scEntry = scenarios->getChild(i);
410 std::string type = scEntry->getStringValue("type");
411 std::string pnumber = scEntry->getStringValue("pennant-number");
412 std::string name = scEntry->getStringValue("name");
413 if (type == "carrier" && (pnumber == id || name == id)) {
414 SGSharedPtr<FGAICarrier> carrier = new FGAICarrier;
415 carrier->readFromScenario(scEntry);
417 if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
431 FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
433 // we specify tgt extent (ft) according to the AIObject type
434 double tgt_ht[] = {0, 50, 100, 250, 0, 100, 0, 0, 50, 50, 20, 100, 50};
435 double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 40, 200, 100};
436 ai_list_iterator ai_list_itr = ai_list.begin();
437 ai_list_iterator end = ai_list.end();
439 while (ai_list_itr != end) {
440 double tgt_alt = (*ai_list_itr)->_getAltitude();
441 int type = (*ai_list_itr)->getType();
442 tgt_ht[type] += fuse_range;
444 if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
445 || type == FGAIBase::otStorm || type == FGAIBase::otThermal ) {
446 //SG_LOG(SG_AI, SG_DEBUG, "AIManager: skipping "
447 // << fabs(tgt_alt - alt)
455 double tgt_lat = (*ai_list_itr)->_getLatitude();
456 double tgt_lon = (*ai_list_itr)->_getLongitude();
457 int id = (*ai_list_itr)->getID();
459 double range = calcRange(lat, lon, tgt_lat, tgt_lon);
461 //SG_LOG(SG_AI, SG_DEBUG, "AIManager: AI list size "
463 // << " type " << type
465 // << " range " << range
466 // //<< " bearing " << bearing
467 // << " alt " << tgt_alt
470 tgt_length[type] += fuse_range;
472 if (range < tgt_length[type]){
473 SG_LOG(SG_AI, SG_DEBUG, "AIManager: HIT! "
476 << " range " << range
477 << " alt " << tgt_alt
479 return (*ai_list_itr).get();
487 FGAIManager::calcRange(double lat, double lon, double lat2, double lon2) const
489 double course, az2, distance;
491 //calculate the bearing and range of the second pos from the first
492 geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
493 distance *= SG_METER_TO_FEET;