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 <Main/globals.hxx>
23 #include <Airports/simple.hxx>
24 #include <Traffic/TrafficMgr.hxx>
26 #include "AIManager.hxx"
27 #include "AIAircraft.hxx"
29 #include "AIBallistic.hxx"
30 #include "AIStorm.hxx"
31 #include "AIThermal.hxx"
32 #include "AICarrier.hxx"
33 #include "AIStatic.hxx"
34 #include "AIMultiplayer.hxx"
35 #include "AITanker.hxx"
37 #include <simgear/math/sg_geodesy.hxx>
40 FGAIManager::FGAIManager() {
44 for (unsigned i = 0; i < FGAIBase::MAX_OBJECTS; ++i)
45 mNumAiTypeModels[i] = 0;
48 FGAIManager::~FGAIManager() {
49 ai_list_iterator ai_list_itr = ai_list.begin();
51 while(ai_list_itr != ai_list.end()) {
52 (*ai_list_itr)->unbind();
59 root = fgGetNode("sim/ai", true);
61 enabled = root->getNode("enabled", true)->getBoolValue();
66 wind_from_down_node = fgGetNode("/environment/wind-from-down-fps", true);
67 wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
68 wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
70 user_latitude_node = fgGetNode("/position/latitude-deg", true);
71 user_longitude_node = fgGetNode("/position/longitude-deg", true);
72 user_altitude_node = fgGetNode("/position/altitude-ft", true);
73 user_heading_node = fgGetNode("/orientation/heading-deg", true);
74 user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
75 user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
76 user_speed_node = fgGetNode("/velocities/uBody-fps", true);
80 FGAIManager::postinit() {
81 // postinit, so that it can access the Nasal subsystem
82 map<string, bool> scenarios;
83 for (int i = 0 ; i < root->nChildren() ; i++) {
84 SGPropertyNode *n = root->getChild(i);
85 if (strcmp(n->getName(), "scenario"))
88 string name = n->getStringValue();
92 if (scenarios.find(name) != scenarios.end()) {
93 SG_LOG(SG_GENERAL, SG_WARN, "won't load scenario '" << name << "' twice");
97 SG_LOG(SG_GENERAL, SG_INFO, "loading scenario '" << name << '\'');
98 processScenario(name);
99 scenarios[name] = true;
104 FGAIManager::reinit() {
106 ai_list_iterator ai_list_itr = ai_list.begin();
108 while(ai_list_itr != ai_list.end()) {
109 (*ai_list_itr)->reinit();
115 FGAIManager::bind() {
116 root = globals->get_props()->getNode("ai/models", true);
117 root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
118 &FGAIManager::getNumAiObjects));
122 FGAIManager::unbind() {
123 root->untie("count");
127 FGAIManager::update(double dt) {
128 // initialize these for finding nearest thermals
129 range_nearest = 10000.0;
135 FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
138 ai_list_iterator ai_list_itr = ai_list.begin();
140 while(ai_list_itr != ai_list.end()) {
142 if ((*ai_list_itr)->getDie()) {
143 tmgr->release((*ai_list_itr)->getID());
145 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
146 FGAIBase *base = *ai_list_itr;
147 SGPropertyNode *props = base->_getProps();
149 props->setBoolValue("valid", false);
152 // for backward compatibility reset properties, so that aircraft,
153 // which don't know the <valid> property, keep working
154 // TODO: remove after a while
155 props->setIntValue("id", -1);
156 props->setBoolValue("radar/in-range", false);
157 props->setIntValue("refuel/tanker", false);
159 ai_list_itr = ai_list.erase(ai_list_itr);
162 if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
163 FGAIBase *base = *ai_list_itr;
164 processThermal((FGAIThermal*)base);
166 (*ai_list_itr)->update(_dt);
172 wind_from_down_node->setDoubleValue( strength ); // for thermals
176 FGAIManager::attach(SGSharedPtr<FGAIBase> model)
178 //unsigned idx = mNumAiTypeModels[model->getType()];
179 const char* typeString = model->getTypeString();
180 SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
184 // find free index in the property tree, if we have
185 // more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
186 for (i = 0; i < 10000; i++) {
187 p = root->getNode(typeString, i, false);
189 if (!p || !p->getBoolValue("valid", false))
192 if (p->getIntValue("id",-1)==model->getID()) {
193 p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
197 p = root->getNode(typeString, i, true);
198 model->setManager(this, p);
199 ai_list.push_back(model);
201 ++(mNumAiTypeModels[model->getType()]);
202 model->init(model->getType()==FGAIBase::otAircraft
203 || model->getType()==FGAIBase::otMultiplayer
204 || model->getType()==FGAIBase::otStatic);
206 p->setBoolValue("valid", true);
210 FGAIManager::destroyObject( int ID ) {
211 ai_list_iterator ai_list_itr = ai_list.begin();
213 while(ai_list_itr != ai_list.end()) {
215 if ((*ai_list_itr)->getID() == ID) {
217 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
218 (*ai_list_itr)->unbind();
219 ai_list_itr = ai_list.erase(ai_list_itr);
227 FGAIManager::getNumAiObjects(void) const
233 FGAIManager::fetchUserState( void ) {
234 user_latitude = user_latitude_node->getDoubleValue();
235 user_longitude = user_longitude_node->getDoubleValue();
236 user_altitude = user_altitude_node->getDoubleValue();
237 user_heading = user_heading_node->getDoubleValue();
238 user_pitch = user_pitch_node->getDoubleValue();
239 user_yaw = user_yaw_node->getDoubleValue();
240 user_speed = user_speed_node->getDoubleValue() * 0.592484;
241 wind_from_east = wind_from_east_node->getDoubleValue();
242 wind_from_north = wind_from_north_node->getDoubleValue();
245 // only keep the results from the nearest thermal
247 FGAIManager::processThermal( FGAIThermal* thermal ) {
248 thermal->update(_dt);
250 if ( thermal->_getRange() < range_nearest ) {
251 range_nearest = thermal->_getRange();
252 strength = thermal->getStrength();
258 FGAIManager::processScenario( const string &filename ) {
260 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
265 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
270 for (int i = 0; i < scenarios->nChildren(); i++) {
271 SGPropertyNode* scEntry = scenarios->getChild(i);
273 if (strcmp(scEntry->getName(), "entry"))
275 std::string type = scEntry->getStringValue("type", "aircraft");
277 if (type == "tanker") { // refueling scenarios
278 FGAITanker* tanker = new FGAITanker;
279 tanker->readFromScenario(scEntry);
281 } else if (type == "aircraft") {
282 FGAIAircraft* aircraft = new FGAIAircraft;
283 aircraft->readFromScenario(scEntry);
286 } else if (type == "ship") {
287 FGAIShip* ship = new FGAIShip;
288 ship->readFromScenario(scEntry);
291 } else if (type == "carrier") {
292 FGAICarrier* carrier = new FGAICarrier;
293 carrier->readFromScenario(scEntry);
296 } else if (type == "thunderstorm") {
297 FGAIStorm* storm = new FGAIStorm;
298 storm->readFromScenario(scEntry);
301 } else if (type == "thermal") {
302 FGAIThermal* thermal = new FGAIThermal;
303 thermal->readFromScenario(scEntry);
306 } else if (type == "ballistic") {
307 FGAIBallistic* ballistic = new FGAIBallistic;
308 ballistic->readFromScenario(scEntry);
311 } else if (type == "static") {
312 FGAIStatic* aistatic = new FGAIStatic;
313 aistatic->readFromScenario(scEntry);
321 FGAIManager::loadScenarioFile(const std::string& filename)
323 SGPath path(globals->get_fg_root());
324 path.append("AI/" + filename + ".xml");
326 SGPropertyNode_ptr root = new SGPropertyNode;
327 readProperties(path.str(), root);
329 } catch (const sg_exception &e) {
330 SG_LOG(SG_GENERAL, SG_DEBUG, "Incorrect path specified for AI "
331 "scenario: \"" << path.str() << "\"");
337 FGAIManager::getStartPosition(const string& id, const string& pid,
338 SGGeod& geodPos, double& hdng, SGVec3d& uvw)
341 SGPropertyNode* root = fgGetNode("sim/ai", true);
342 if (!root->getNode("enabled", true)->getBoolValue())
345 for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
346 SGPropertyNode *aiEntry = root->getChild( i );
347 if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
348 string filename = aiEntry->getStringValue();
349 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
351 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
353 for (int i = 0; i < scenarios->nChildren(); i++) {
354 SGPropertyNode* scEntry = scenarios->getChild(i);
355 std::string type = scEntry->getStringValue("type");
356 std::string pnumber = scEntry->getStringValue("pennant-number");
357 std::string name = scEntry->getStringValue("name");
358 if (type == "carrier" && (pnumber == id || name == id)) {
359 SGSharedPtr<FGAICarrier> carrier = new FGAICarrier;
360 carrier->readFromScenario(scEntry);
362 if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
376 FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
378 // we specify tgt extent (ft) according to the AIObject type
379 double tgt_ht[] = {0, 50 ,100, 250, 0, 100, 0, 0, 50, 50};
380 double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100};
382 ai_list_iterator ai_list_itr = ai_list.begin();
383 ai_list_iterator end = ai_list.end();
385 while (ai_list_itr != end) {
386 double tgt_alt = (*ai_list_itr)->_getAltitude();
387 int type = (*ai_list_itr)->getType();
388 tgt_ht[type] += fuse_range;
390 if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
391 || type == FGAIBase::otStorm || type == FGAIBase::otThermal) {
392 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: skipping "
393 << fabs(tgt_alt - alt)
401 double tgt_lat = (*ai_list_itr)->_getLatitude();
402 double tgt_lon = (*ai_list_itr)->_getLongitude();
403 int id = (*ai_list_itr)->getID();
405 double range = calcRange(lat, lon, tgt_lat, tgt_lon);
407 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: AI list size "
411 << " range " << range
412 //<< " bearing " << bearing
413 << " alt " << tgt_alt
416 tgt_length[type] += fuse_range;
418 if (range < tgt_length[type]){
419 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: HIT! "
422 << " range " << range
423 << " alt " << tgt_alt
433 FGAIManager::calcRange(double lat, double lon, double lat2, double lon2) const
435 double course, az2, distance;
437 //calculate the bearing and range of the second pos from the first
438 geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
439 distance *= SG_METER_TO_FEET;