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"
41 #include "AIGroundVehicle.hxx"
42 #include "AIEscort.hxx"
44 FGAIManager::FGAIManager() {
48 for (unsigned i = 0; i < FGAIBase::MAX_OBJECTS; ++i)
49 mNumAiTypeModels[i] = 0;
52 FGAIManager::~FGAIManager() {
53 ai_list_iterator ai_list_itr = ai_list.begin();
55 while(ai_list_itr != ai_list.end()) {
56 (*ai_list_itr)->unbind();
63 root = fgGetNode("sim/ai", true);
65 enabled = root->getNode("enabled", true)->getBoolValue();
70 thermal_lift_node = fgGetNode("/environment/thermal-lift-fps", true);
71 wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
72 wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
74 user_latitude_node = fgGetNode("/position/latitude-deg", true);
75 user_longitude_node = fgGetNode("/position/longitude-deg", true);
76 user_altitude_node = fgGetNode("/position/altitude-ft", true);
77 user_heading_node = fgGetNode("/orientation/heading-deg", true);
78 user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
79 user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
80 user_roll_node = fgGetNode("/orientation/roll-deg", true);
81 user_speed_node = fgGetNode("/velocities/uBody-fps", true);
85 FGAIManager::postinit() {
86 // postinit, so that it can access the Nasal subsystem
87 map<string, bool> scenarios;
88 for (int i = 0 ; i < root->nChildren() ; i++) {
89 SGPropertyNode *n = root->getChild(i);
90 if (strcmp(n->getName(), "scenario"))
93 string name = n->getStringValue();
97 if (scenarios.find(name) != scenarios.end()) {
98 SG_LOG(SG_GENERAL, SG_WARN, "won't load scenario '" << name << "' twice");
102 SG_LOG(SG_GENERAL, SG_ALERT, "loading scenario '" << name << '\'');
103 processScenario(name);
104 scenarios[name] = true;
109 FGAIManager::reinit() {
111 ai_list_iterator ai_list_itr = ai_list.begin();
113 while(ai_list_itr != ai_list.end()) {
114 (*ai_list_itr)->reinit();
120 FGAIManager::bind() {
121 root = globals->get_props()->getNode("ai/models", true);
122 root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
123 &FGAIManager::getNumAiObjects));
127 FGAIManager::unbind() {
128 root->untie("count");
132 FGAIManager::update(double dt) {
133 // initialize these for finding nearest thermals
134 range_nearest = 10000.0;
140 FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
143 ai_list_iterator ai_list_itr = ai_list.begin();
145 while(ai_list_itr != ai_list.end()) {
147 if ((*ai_list_itr)->getDie()) {
148 tmgr->release((*ai_list_itr)->getID());
150 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
151 FGAIBase *base = (*ai_list_itr).get();
152 SGPropertyNode *props = base->_getProps();
154 props->setBoolValue("valid", false);
157 // for backward compatibility reset properties, so that aircraft,
158 // which don't know the <valid> property, keep working
159 // TODO: remove after a while
160 props->setIntValue("id", -1);
161 props->setBoolValue("radar/in-range", false);
162 props->setIntValue("refuel/tanker", false);
164 ai_list_itr = ai_list.erase(ai_list_itr);
167 if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
168 FGAIBase *base = (*ai_list_itr).get();
169 processThermal((FGAIThermal*)base);
171 (*ai_list_itr)->update(_dt);
177 thermal_lift_node->setDoubleValue( strength ); // for thermals
181 FGAIManager::attach(FGAIBase *model)
183 //unsigned idx = mNumAiTypeModels[model->getType()];
184 const char* typeString = model->getTypeString();
185 SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
189 // find free index in the property tree, if we have
190 // more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
191 for (i = 0; i < 10000; i++) {
192 p = root->getNode(typeString, i, false);
194 if (!p || !p->getBoolValue("valid", false))
197 if (p->getIntValue("id",-1)==model->getID()) {
198 p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
202 p = root->getNode(typeString, i, true);
203 model->setManager(this, p);
204 ai_list.push_back(model);
206 ++(mNumAiTypeModels[model->getType()]);
207 model->init(model->getType()==FGAIBase::otAircraft
208 || model->getType()==FGAIBase::otMultiplayer
209 || model->getType()==FGAIBase::otStatic);
211 p->setBoolValue("valid", true);
215 FGAIManager::destroyObject( int ID ) {
216 ai_list_iterator ai_list_itr = ai_list.begin();
218 while(ai_list_itr != ai_list.end()) {
220 if ((*ai_list_itr)->getID() == ID) {
222 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
223 (*ai_list_itr)->unbind();
224 ai_list_itr = ai_list.erase(ai_list_itr);
232 FGAIManager::getNumAiObjects(void) const
238 FGAIManager::fetchUserState( void ) {
239 user_latitude = user_latitude_node->getDoubleValue();
240 user_longitude = user_longitude_node->getDoubleValue();
241 user_altitude = user_altitude_node->getDoubleValue();
242 user_heading = user_heading_node->getDoubleValue();
243 user_pitch = user_pitch_node->getDoubleValue();
244 user_yaw = user_yaw_node->getDoubleValue();
245 user_speed = user_speed_node->getDoubleValue() * 0.592484;
246 user_roll = user_roll_node->getDoubleValue();
247 wind_from_east = wind_from_east_node->getDoubleValue();
248 wind_from_north = wind_from_north_node->getDoubleValue();
251 // only keep the results from the nearest thermal
253 FGAIManager::processThermal( FGAIThermal* thermal ) {
254 thermal->update(_dt);
256 if ( thermal->_getRange() < range_nearest ) {
257 range_nearest = thermal->_getRange();
258 strength = thermal->getStrength();
266 FGAIManager::processScenario( const string &filename ) {
268 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
273 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
278 for (int i = 0; i < scenarios->nChildren(); i++) {
279 SGPropertyNode* scEntry = scenarios->getChild(i);
281 if (strcmp(scEntry->getName(), "entry"))
283 std::string type = scEntry->getStringValue("type", "aircraft");
285 if (type == "tanker") { // refueling scenarios
286 FGAITanker* tanker = new FGAITanker;
287 tanker->readFromScenario(scEntry);
290 } else if (type == "wingman") {
291 FGAIWingman* wingman = new FGAIWingman;
292 wingman->readFromScenario(scEntry);
295 } else if (type == "aircraft") {
296 FGAIAircraft* aircraft = new FGAIAircraft;
297 aircraft->readFromScenario(scEntry);
300 } else if (type == "ship") {
301 FGAIShip* ship = new FGAIShip;
302 ship->readFromScenario(scEntry);
305 } else if (type == "carrier") {
306 FGAICarrier* carrier = new FGAICarrier;
307 carrier->readFromScenario(scEntry);
310 } else if (type == "groundvehicle") {
311 FGAIGroundVehicle* groundvehicle = new FGAIGroundVehicle;
312 groundvehicle->readFromScenario(scEntry);
313 attach(groundvehicle);
315 } else if (type == "escort") {
316 FGAIEscort* escort = new FGAIEscort;
317 escort->readFromScenario(scEntry);
320 } else if (type == "thunderstorm") {
321 FGAIStorm* storm = new FGAIStorm;
322 storm->readFromScenario(scEntry);
325 } else if (type == "thermal") {
326 FGAIThermal* thermal = new FGAIThermal;
327 thermal->readFromScenario(scEntry);
330 } else if (type == "ballistic") {
331 FGAIBallistic* ballistic = new FGAIBallistic;
332 ballistic->readFromScenario(scEntry);
335 } else if (type == "static") {
336 FGAIStatic* aistatic = new FGAIStatic;
337 aistatic->readFromScenario(scEntry);
346 FGAIManager::loadScenarioFile(const std::string& filename)
348 SGPath path(globals->get_fg_root());
349 path.append("AI/" + filename + ".xml");
351 SGPropertyNode_ptr root = new SGPropertyNode;
352 readProperties(path.str(), root);
354 } catch (const sg_exception &) {
355 SG_LOG(SG_GENERAL, SG_DEBUG, "Incorrect path specified for AI "
356 "scenario: \"" << path.str() << "\"");
362 FGAIManager::getStartPosition(const string& id, const string& pid,
363 SGGeod& geodPos, double& hdng, SGVec3d& uvw)
366 SGPropertyNode* root = fgGetNode("sim/ai", true);
367 if (!root->getNode("enabled", true)->getBoolValue())
370 for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
371 SGPropertyNode *aiEntry = root->getChild( i );
372 if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
373 string filename = aiEntry->getStringValue();
374 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
376 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
378 for (int i = 0; i < scenarios->nChildren(); i++) {
379 SGPropertyNode* scEntry = scenarios->getChild(i);
380 std::string type = scEntry->getStringValue("type");
381 std::string pnumber = scEntry->getStringValue("pennant-number");
382 std::string name = scEntry->getStringValue("name");
383 if (type == "carrier" && (pnumber == id || name == id)) {
384 osg::ref_ptr<FGAICarrier> carrier = new FGAICarrier;
385 carrier->readFromScenario(scEntry);
387 if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
401 FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
403 // we specify tgt extent (ft) according to the AIObject type
404 double tgt_ht[] = {0, 50, 100, 250, 0, 100, 0, 0, 50, 50, 20, 100, 50};
405 double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 40, 200, 100};
406 ai_list_iterator ai_list_itr = ai_list.begin();
407 ai_list_iterator end = ai_list.end();
409 while (ai_list_itr != end) {
410 double tgt_alt = (*ai_list_itr)->_getAltitude();
411 int type = (*ai_list_itr)->getType();
412 tgt_ht[type] += fuse_range;
414 if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
415 || type == FGAIBase::otStorm || type == FGAIBase::otThermal ) {
416 //SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: skipping "
417 // << fabs(tgt_alt - alt)
425 double tgt_lat = (*ai_list_itr)->_getLatitude();
426 double tgt_lon = (*ai_list_itr)->_getLongitude();
427 int id = (*ai_list_itr)->getID();
429 double range = calcRange(lat, lon, tgt_lat, tgt_lon);
431 //SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: AI list size "
433 // << " type " << type
435 // << " range " << range
436 // //<< " bearing " << bearing
437 // << " alt " << tgt_alt
440 tgt_length[type] += fuse_range;
442 if (range < tgt_length[type]){
443 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: HIT! "
446 << " range " << range
447 << " alt " << tgt_alt
449 return (*ai_list_itr).get();
457 FGAIManager::calcRange(double lat, double lon, double lat2, double lon2) const
459 double course, az2, distance;
461 //calculate the bearing and range of the second pos from the first
462 geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
463 distance *= SG_METER_TO_FEET;