src/AIModel/AIManager.cxx

   1 // AIManager.cxx  Based on David Luff's AIMgr:
   2 // - a global management type for AI objects
   3 //
   4 // Written by David Culp, started October 2003.
   5 // - davidculp2@comcast.net
   6 //
   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.
  11 //
  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.
  16 //
  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., 675 Mass Ave, Cambridge, MA 02139, USA.
  20
  21 #include <simgear/misc/sg_path.hxx>
  22 #include <Main/fg_props.hxx>
  23 #include <Main/globals.hxx>
  24
  25 #include <Airports/simple.hxx>
  26 #include <Traffic/SchedFlight.hxx>
  27 #include <Traffic/Schedule.hxx>
  28 #include <Traffic/TrafficMgr.hxx>
  29
  30 #include <list>
  31
  32 #include "AIManager.hxx"
  33 #include "AIAircraft.hxx"
  34 #include "AIShip.hxx"
  35 #include "AIBallistic.hxx"
  36 #include "AIStorm.hxx"
  37 #include "AIThermal.hxx"
  38 #include "AICarrier.hxx"
  39 #include "AIStatic.hxx"
  40
  41 SG_USING_STD(list);
  42
  43
  44 FGAIManager::FGAIManager() {
  45   initDone = false;
  46   for (int i=0; i < FGAIBase::MAX_OBJECTS; i++)
  47      numObjects[i] = 0;
  48   _dt = 0.0;
  49   dt_count = 9;
  50   scenario_filename = "";
  51   ai_list.clear();
  52 }
  53
  54 FGAIManager::~FGAIManager() {
  55   ai_list_iterator ai_list_itr = ai_list.begin();
  56   while(ai_list_itr != ai_list.end()) {
  57       (*ai_list_itr)->unbind();
  58       delete (*ai_list_itr);
  59       ++ai_list_itr;
  60     }
  61   ai_list.clear();
  62   ModelVecIterator i = loadedModels.begin();
  63   while (i != loadedModels.end())
  64     {
  65       i->getModelId()->deRef();
  66     }
  67 }
  68
  69
  70 void FGAIManager::init() {
  71   root = fgGetNode("sim/ai", true);
  72
  73   enabled = root->getNode("enabled", true)->getBoolValue();
  74   if (!enabled)
  75       return;
  76
  77   wind_from_down_node = fgGetNode("/environment/wind-from-down-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_heading_node   = fgGetNode("/orientation/heading-deg", true);
  82   user_pitch_node     = fgGetNode("/orientation/pitch-deg", true);
  83   user_yaw_node       = fgGetNode("/orientation/side-slip-deg", true);
  84   user_speed_node     = fgGetNode("/velocities/uBody-fps", true);
  85
  86   for(int i = 0 ; i < root->nChildren() ; i++) {
  87     SGPropertyNode *aiEntry = root->getChild( i );
  88         if( !strcmp( aiEntry->getName(), "scenario" ) ) {
  89       scenario_filename = aiEntry->getStringValue();
  90       if (scenario_filename != "") processScenario( scenario_filename );
  91         }
  92   }
  93   initDone = true;
  94 }
  95
  96
  97 void FGAIManager::reinit() {
  98    update(0.0);
  99 }
 100
 101
 102 void FGAIManager::bind() {
 103    root = globals->get_props()->getNode("ai/models", true);
 104    root->tie("count", SGRawValuePointer<int>(&numObjects[0]));
 105 }
 106
 107
 108 void FGAIManager::unbind() {
 109     root->untie("count");
 110 }
 111
 112
 113 void FGAIManager::update(double dt) {
 114
 115         // initialize these for finding nearest thermals
 116         range_nearest = 10000.0;
 117         strength = 0.0;
 118         FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
 119
 120         if (!enabled)
 121             return;
 122
 123         _dt = dt;
 124
 125         ai_list_iterator ai_list_itr = ai_list.begin();
 126         while(ai_list_itr != ai_list.end()) {
 127                 if ((*ai_list_itr)->getDie()) {
 128                   tmgr->release((*ai_list_itr)->getID());
 129                    --numObjects[(*ai_list_itr)->getType()];
 130                    --numObjects[0];
 131                    (*ai_list_itr)->unbind();
 132                    delete (*ai_list_itr);
 133                    if ( ai_list_itr == ai_list.begin() ) {
 134                        ai_list.erase(ai_list_itr);
 135                        ai_list_itr = ai_list.begin();
 136                        continue;
 137                    } else {
 138                        ai_list.erase(ai_list_itr--);
 139                    }
 140                 } else {
 141                    fetchUserState();
 142                    if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
 143                        processThermal((FGAIThermal*)*ai_list_itr);
 144                    } else {
 145                       (*ai_list_itr)->update(_dt);
 146                    }
 147                 }
 148                 ++ai_list_itr;
 149         }
 150         wind_from_down_node->setDoubleValue( strength ); // for thermals
 151
 152 }
 153
 154
 155 void*
 156 FGAIManager::createAircraft( FGAIModelEntity *entity,   FGAISchedule *ref) {
 157
 158         FGAIAircraft* ai_plane = new FGAIAircraft(this, ref);
 159         ai_list.push_back(ai_plane);
 160         ++numObjects[0];
 161         ++numObjects[FGAIBase::otAircraft];
 162         if (entity->m_class == "light") {
 163           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 164         } else if (entity->m_class == "ww2_fighter") {
 165           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 166         } else if (entity->m_class ==  "jet_transport") {
 167           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 168         } else if (entity->m_class == "jet_fighter") {
 169           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 170         } else if (entity->m_class ==  "tanker") {
 171           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 172           ai_plane->SetTanker(true);
 173         } else {
 174           ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 175         }
 176         ai_plane->setAcType(entity->acType);
 177         ai_plane->setCompany(entity->company);
 178         ai_plane->setHeading(entity->heading);
 179         ai_plane->setSpeed(entity->speed);
 180         ai_plane->setPath(entity->path.c_str());
 181         ai_plane->setAltitude(entity->altitude);
 182         ai_plane->setLongitude(entity->longitude);
 183         ai_plane->setLatitude(entity->latitude);
 184         ai_plane->setBank(entity->roll);
 185
 186         if ( entity->fp ) {
 187           ai_plane->SetFlightPlan(entity->fp);
 188         }
 189         if (entity->repeat) {
 190           ai_plane->GetFlightPlan()->setRepeat(true);
 191         }
 192         ai_plane->init();
 193         ai_plane->bind();
 194         return ai_plane;
 195 }
 196
 197 void*
 198 FGAIManager::createShip( FGAIModelEntity *entity ) {
 199
 200      // cout << "creating ship" << endl;
 201
 202         FGAIShip* ai_ship = new FGAIShip(this);
 203         ai_list.push_back(ai_ship);
 204         ++numObjects[0];
 205         ++numObjects[FGAIBase::otShip];
 206         ai_ship->setHeading(entity->heading);
 207         ai_ship->setSpeed(entity->speed);
 208         ai_ship->setPath(entity->path.c_str());
 209         ai_ship->setAltitude(entity->altitude);
 210         ai_ship->setLongitude(entity->longitude);
 211         ai_ship->setLatitude(entity->latitude);
 212         ai_ship->setBank(entity->rudder);
 213         ai_ship->setName(entity->name);
 214
 215         if ( entity->fp ) {
 216            ai_ship->setFlightPlan(entity->fp);
 217         }
 218
 219         ai_ship->init();
 220         ai_ship->bind();
 221         return ai_ship;
 222 }
 223
 224 void*
 225 FGAIManager::createCarrier( FGAIModelEntity *entity ) {
 226
 227     // cout << "creating carrier" << endl;
 228
 229         FGAICarrier* ai_carrier = new FGAICarrier(this);
 230         ai_list.push_back(ai_carrier);
 231         ++numObjects[0];
 232         ++numObjects[FGAIBase::otCarrier];
 233         ai_carrier->setHeading(entity->heading);
 234         ai_carrier->setSpeed(entity->speed);
 235         ai_carrier->setPath(entity->path.c_str());
 236         ai_carrier->setAltitude(entity->altitude);
 237         ai_carrier->setLongitude(entity->longitude);
 238         ai_carrier->setLatitude(entity->latitude);
 239         ai_carrier->setBank(entity->rudder);
 240         ai_carrier->setSolidObjects(entity->solid_objects);
 241         ai_carrier->setWireObjects(entity->wire_objects);
 242         ai_carrier->setCatapultObjects(entity->catapult_objects);
 243         ai_carrier->setParkingPositions(entity->ppositions);
 244         ai_carrier->setRadius(entity->radius);
 245         ai_carrier->setSign(entity->pennant_number);
 246         ai_carrier->setName(entity->name);
 247         ai_carrier->setFlolsOffset(entity->flols_offset);
 248
 249         if ( entity->fp ) {
 250            ai_carrier->setFlightPlan(entity->fp);
 251         }
 252
 253         ai_carrier->init();
 254         ai_carrier->bind();
 255         return ai_carrier;
 256 }
 257
 258 void*
 259 FGAIManager::createBallistic( FGAIModelEntity *entity ) {
 260
 261         FGAIBallistic* ai_ballistic = new FGAIBallistic(this);
 262         ai_list.push_back(ai_ballistic);
 263         ++numObjects[0];
 264         ++numObjects[FGAIBase::otBallistic];
 265         ai_ballistic->setAzimuth(entity->azimuth);
 266         ai_ballistic->setElevation(entity->elevation);
 267         ai_ballistic->setSpeed(entity->speed);
 268         ai_ballistic->setPath(entity->path.c_str());
 269         ai_ballistic->setAltitude(entity->altitude);
 270         ai_ballistic->setLongitude(entity->longitude);
 271         ai_ballistic->setLatitude(entity->latitude);
 272         ai_ballistic->setDragArea(entity->eda);
 273         ai_ballistic->setLife(entity->life);
 274         ai_ballistic->setBuoyancy(entity->buoyancy);
 275         ai_ballistic->setWind_from_east(entity->wind_from_east);
 276         ai_ballistic->setWind_from_north(entity->wind_from_north);
 277         ai_ballistic->setWind(entity->wind);
 278         ai_ballistic->setRoll(entity->roll);
 279         ai_ballistic->setCd(entity->cd);
 280         ai_ballistic->setMass(entity->mass);
 281         ai_ballistic->setStabilisation(entity->aero_stabilised);
 282         ai_ballistic->init();
 283         ai_ballistic->bind();
 284         return ai_ballistic;
 285 }
 286
 287 void*
 288 FGAIManager::createStorm( FGAIModelEntity *entity ) {
 289
 290         FGAIStorm* ai_storm = new FGAIStorm(this);
 291         ++numObjects[0];
 292         ++numObjects[FGAIBase::otStorm];
 293         ai_storm->setHeading(entity->heading);
 294         ai_storm->setSpeed(entity->speed);
 295         ai_storm->setPath(entity->path.c_str());
 296         ai_storm->setAltitude(entity->altitude);
 297         ai_storm->setDiameter(entity->diameter / 6076.11549);
 298         ai_storm->setHeight(entity->height_msl);
 299         ai_storm->setStrengthNorm(entity->strength);
 300         ai_storm->setLongitude(entity->longitude);
 301         ai_storm->setLatitude(entity->latitude);
 302         ai_storm->init();
 303         ai_storm->bind();
 304         ai_list.push_back(ai_storm);
 305         return ai_storm;
 306 }
 307
 308 void*
 309 FGAIManager::createThermal( FGAIModelEntity *entity ) {
 310
 311         FGAIThermal* ai_thermal = new FGAIThermal(this);
 312         ++numObjects[0];
 313         ++numObjects[FGAIBase::otThermal];
 314         ai_thermal->setLongitude(entity->longitude);
 315         ai_thermal->setLatitude(entity->latitude);
 316         ai_thermal->setMaxStrength(entity->strength);
 317         ai_thermal->setDiameter(entity->diameter / 6076.11549);
 318         ai_thermal->setHeight(entity->height_msl);
 319         ai_thermal->init();
 320         ai_thermal->bind();
 321         ai_list.push_back(ai_thermal);
 322         return ai_thermal;
 323 }
 324
 325 void*
 326 FGAIManager::createStatic( FGAIModelEntity *entity ) {
 327
 328      // cout << "creating static object" << endl;
 329
 330         FGAIStatic* ai_static = new FGAIStatic(this);
 331         ai_list.push_back(ai_static);
 332         ++numObjects[0];
 333         ++numObjects[FGAIBase::otStatic];
 334         ai_static->setHeading(entity->heading);
 335         ai_static->setPath(entity->path.c_str());
 336         ai_static->setAltitude(entity->altitude);
 337         ai_static->setLongitude(entity->longitude);
 338         ai_static->setLatitude(entity->latitude);
 339         ai_static->init();
 340         ai_static->bind();
 341         return ai_static;
 342 }
 343
 344 void FGAIManager::destroyObject( void* ID ) {
 345         ai_list_iterator ai_list_itr = ai_list.begin();
 346         while(ai_list_itr != ai_list.end()) {
 347             if ((*ai_list_itr)->getID() == ID) {
 348               --numObjects[0];
 349               --numObjects[(*ai_list_itr)->getType()];
 350               (*ai_list_itr)->unbind();
 351               delete (*ai_list_itr);
 352               ai_list.erase(ai_list_itr);
 353
 354               break;
 355             }
 356             ++ai_list_itr;
 357         }
 358 }
 359
 360
 361 void FGAIManager::fetchUserState( void ) {
 362      user_latitude  = user_latitude_node->getDoubleValue();
 363      user_longitude = user_longitude_node->getDoubleValue();
 364      user_altitude  = user_altitude_node->getDoubleValue();
 365      user_heading   = user_heading_node->getDoubleValue();
 366      user_pitch     = user_pitch_node->getDoubleValue();
 367      user_yaw       = user_yaw_node->getDoubleValue();
 368      user_speed     = user_speed_node->getDoubleValue() * 0.592484;
 369 }
 370
 371
 372 // only keep the results from the nearest thermal
 373 void FGAIManager::processThermal( FGAIThermal* thermal ) {
 374   thermal->update(_dt);
 375   if ( thermal->_getRange() < range_nearest ) {
 376      range_nearest = thermal->_getRange();
 377      strength = thermal->getStrength();
 378   }
 379 }
 380
 381
 382 void FGAIManager::processScenario( const string &filename ) {
 383   FGAIScenario* s = new FGAIScenario( filename );
 384   for (int i=0;i<s->nEntries();i++) {
 385     FGAIModelEntity* en = s->getNextEntry();
 386
 387     if (en) {
 388       if ( en->m_type == "aircraft") {
 389         createAircraft( en );
 390
 391       } else if ( en->m_type == "ship") {
 392         createShip( en );
 393
 394       } else if ( en->m_type == "carrier") {
 395         createCarrier( en );
 396
 397       } else if ( en->m_type == "thunderstorm") {
 398         createStorm( en );
 399
 400       } else if ( en->m_type == "thermal") {
 401         createThermal( en );
 402
 403       } else if ( en->m_type == "ballistic") {
 404         createBallistic( en );
 405
 406       } else if ( en->m_type == "static") {
 407         createStatic( en );
 408       }
 409     }
 410   }
 411
 412   delete s;
 413 }
 414
 415 // This code keeps track of models that have already been loaded
 416 // Eventually we'd prbably need to find a way to keep track of models
 417 // that are unloaded again
 418 ssgBranch * FGAIManager::getModel(const string& path)
 419 {
 420   ModelVecIterator i = loadedModels.begin();
 421   while (i != loadedModels.end())
 422     {
 423       if (i->getPath() == path)
 424         return i->getModelId();
 425       i++;
 426     }
 427   return 0;
 428 }
 429
 430 void FGAIManager::setModel(const string& path, ssgBranch *model)
 431 {
 432   loadedModels.push_back(FGModelID(path,model));
 433 }
 434
 435 bool FGAIManager::getStartPosition(const string& id, const string& pid,
 436                                    Point3D& geodPos, double& heading,
 437                                    sgdVec3 uvw)
 438 {
 439   SGPropertyNode* root = fgGetNode("sim/ai", true);
 440   if (!root->getNode("enabled", true)->getBoolValue())
 441       return 0;
 442
 443   bool found = false;
 444   for(int i = 0 ; (!found) && i < root->nChildren() ; i++) {
 445     SGPropertyNode *aiEntry = root->getChild( i );
 446         if( !strcmp( aiEntry->getName(), "scenario" ) ) {
 447         string filename = aiEntry->getStringValue();
 448         FGAIScenario* s = new FGAIScenario( filename );
 449         for (int i=0; i<s->nEntries(); i++) {
 450             FGAIModelEntity* en = s->getNextEntry();
 451             if (en && en->m_type == "carrier" &&
 452                 (en->pennant_number == id || en->name == id)) {
 453             FGAICarrier* ai_carrier = new FGAICarrier(0);
 454             ai_carrier->setHeading(en->heading);
 455             ai_carrier->setSpeed(en->speed);
 456             ai_carrier->setAltitude(en->altitude);
 457             ai_carrier->setLongitude(en->longitude);
 458             ai_carrier->setLatitude(en->latitude);
 459             ai_carrier->setBank(en->rudder);
 460             ai_carrier->setParkingPositions(en->ppositions);
 461
 462             if (ai_carrier->getParkPosition(pid, geodPos, heading, uvw)) {
 463                 delete ai_carrier;
 464                 found = true;
 465                 break;
 466             }
 467
 468             delete ai_carrier;
 469         }
 470       }
 471       delete s;
 472     }
 473   }
 474   return found;
 475 }
 476
 477 //end AIManager.cxx