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"
36 #include <simgear/math/sg_geodesy.hxx>
39 FGAIManager::FGAIManager() {
43 for (unsigned i = 0; i < FGAIBase::MAX_OBJECTS; ++i)
44 mNumAiTypeModels[i] = 0;
47 FGAIManager::~FGAIManager() {
48 ai_list_iterator ai_list_itr = ai_list.begin();
50 while(ai_list_itr != ai_list.end()) {
51 (*ai_list_itr)->unbind();
58 root = fgGetNode("sim/ai", true);
60 enabled = root->getNode("enabled", true)->getBoolValue();
65 wind_from_down_node = fgGetNode("/environment/wind-from-down-fps", true);
66 wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
67 wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
69 user_latitude_node = fgGetNode("/position/latitude-deg", true);
70 user_longitude_node = fgGetNode("/position/longitude-deg", true);
71 user_altitude_node = fgGetNode("/position/altitude-ft", true);
72 user_heading_node = fgGetNode("/orientation/heading-deg", true);
73 user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
74 user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
75 user_speed_node = fgGetNode("/velocities/uBody-fps", true);
79 FGAIManager::postinit() {
80 // postinit, so that it can access the Nasal subsystem
81 for(int i = 0 ; i < root->nChildren() ; i++) {
82 SGPropertyNode *aiEntry = root->getChild( i );
83 if( !strcmp( aiEntry->getName(), "scenario" ) ) {
84 scenario_filename = aiEntry->getStringValue();
85 if (!scenario_filename.empty())
86 processScenario( scenario_filename );
92 FGAIManager::reinit() {
94 ai_list_iterator ai_list_itr = ai_list.begin();
96 while(ai_list_itr != ai_list.end()) {
97 (*ai_list_itr)->reinit();
103 FGAIManager::bind() {
104 root = globals->get_props()->getNode("ai/models", true);
105 root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
106 &FGAIManager::getNumAiObjects));
110 FGAIManager::unbind() {
111 root->untie("count");
115 FGAIManager::update(double dt) {
116 // initialize these for finding nearest thermals
117 range_nearest = 10000.0;
123 FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
126 ai_list_iterator ai_list_itr = ai_list.begin();
128 while(ai_list_itr != ai_list.end()) {
130 if ((*ai_list_itr)->getDie()) {
131 tmgr->release((*ai_list_itr)->getID());
133 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
134 FGAIBase *base = *ai_list_itr;
135 SGPropertyNode *props = base->_getProps();
137 props->setBoolValue("valid", false);
140 // for backward compatibility reset properties, so that aircraft,
141 // which don't know the <valid> property, keep working
142 // TODO: remove after a while
143 props->setIntValue("id", -1);
144 props->setBoolValue("radar/in-range", false);
145 props->setIntValue("refuel/tanker", false);
147 ai_list_itr = ai_list.erase(ai_list_itr);
150 if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
151 FGAIBase *base = *ai_list_itr;
152 processThermal((FGAIThermal*)base);
154 (*ai_list_itr)->update(_dt);
160 wind_from_down_node->setDoubleValue( strength ); // for thermals
164 FGAIManager::attach(SGSharedPtr<FGAIBase> model)
166 //unsigned idx = mNumAiTypeModels[model->getType()];
167 const char* typeString = model->getTypeString();
168 SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
172 // find free index in the property tree, if we have
173 // more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
174 for (i = 0; i < 10000; i++) {
175 p = root->getNode(typeString, i, false);
177 if (!p || !p->getBoolValue("valid", false))
180 if (p->getIntValue("id",-1)==model->getID()) {
181 p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
185 p = root->getNode(typeString, i, true);
186 model->setManager(this, p);
187 ai_list.push_back(model);
189 ++(mNumAiTypeModels[model->getType()]);
190 model->init(model->getType()==FGAIBase::otAircraft
191 || model->getType()==FGAIBase::otMultiplayer
192 || model->getType()==FGAIBase::otStatic);
194 p->setBoolValue("valid", true);
198 FGAIManager::destroyObject( int ID ) {
199 ai_list_iterator ai_list_itr = ai_list.begin();
201 while(ai_list_itr != ai_list.end()) {
203 if ((*ai_list_itr)->getID() == ID) {
205 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
206 (*ai_list_itr)->unbind();
207 ai_list_itr = ai_list.erase(ai_list_itr);
215 FGAIManager::getNumAiObjects(void) const
221 FGAIManager::fetchUserState( void ) {
222 user_latitude = user_latitude_node->getDoubleValue();
223 user_longitude = user_longitude_node->getDoubleValue();
224 user_altitude = user_altitude_node->getDoubleValue();
225 user_heading = user_heading_node->getDoubleValue();
226 user_pitch = user_pitch_node->getDoubleValue();
227 user_yaw = user_yaw_node->getDoubleValue();
228 user_speed = user_speed_node->getDoubleValue() * 0.592484;
229 wind_from_east = wind_from_east_node->getDoubleValue();
230 wind_from_north = wind_from_north_node->getDoubleValue();
233 // only keep the results from the nearest thermal
235 FGAIManager::processThermal( FGAIThermal* thermal ) {
236 thermal->update(_dt);
238 if ( thermal->_getRange() < range_nearest ) {
239 range_nearest = thermal->_getRange();
240 strength = thermal->getStrength();
246 FGAIManager::processScenario( const string &filename ) {
248 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
253 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
258 for (int i = 0; i < scenarios->nChildren(); i++) {
259 SGPropertyNode* scEntry = scenarios->getChild(i);
261 if (strcmp(scEntry->getName(), "entry"))
263 std::string type = scEntry->getStringValue("type", "aircraft");
265 if (type == "aircraft") {
266 FGAIAircraft* aircraft = new FGAIAircraft;
267 aircraft->readFromScenario(scEntry);
270 } else if (type == "ship") {
271 FGAIShip* ship = new FGAIShip;
272 ship->readFromScenario(scEntry);
275 } else if (type == "carrier") {
276 FGAICarrier* carrier = new FGAICarrier;
277 carrier->readFromScenario(scEntry);
280 } else if (type == "thunderstorm") {
281 FGAIStorm* storm = new FGAIStorm;
282 storm->readFromScenario(scEntry);
285 } else if (type == "thermal") {
286 FGAIThermal* thermal = new FGAIThermal;
287 thermal->readFromScenario(scEntry);
290 } else if (type == "ballistic") {
291 FGAIBallistic* ballistic = new FGAIBallistic;
292 ballistic->readFromScenario(scEntry);
295 } else if (type == "static") {
296 FGAIStatic* aistatic = new FGAIStatic;
297 aistatic->readFromScenario(scEntry);
305 FGAIManager::loadScenarioFile(const std::string& filename)
307 SGPath path(globals->get_fg_root());
308 path.append("AI/" + filename + ".xml");
310 SGPropertyNode_ptr root = new SGPropertyNode;
311 readProperties(path.str(), root);
313 } catch (const sg_exception &e) {
314 SG_LOG(SG_GENERAL, SG_DEBUG, "Incorrect path specified for AI "
315 "scenario: \"" << path.str() << "\"");
321 FGAIManager::getStartPosition(const string& id, const string& pid,
322 SGGeod& geodPos, double& hdng, SGVec3d& uvw)
325 SGPropertyNode* root = fgGetNode("sim/ai", true);
326 if (!root->getNode("enabled", true)->getBoolValue())
329 for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
330 SGPropertyNode *aiEntry = root->getChild( i );
331 if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
332 string filename = aiEntry->getStringValue();
333 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
335 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
337 for (int i = 0; i < scenarios->nChildren(); i++) {
338 SGPropertyNode* scEntry = scenarios->getChild(i);
339 std::string type = scEntry->getStringValue("type");
340 std::string pnumber = scEntry->getStringValue("pennant-number");
341 std::string name = scEntry->getStringValue("name");
342 if (type == "carrier" && (pnumber == id || name == id)) {
343 SGSharedPtr<FGAICarrier> carrier = new FGAICarrier;
344 carrier->readFromScenario(scEntry);
346 if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
360 FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
362 // we specify tgt extent (ft) according to the AIObject type
363 double tgt_ht[] = {0, 50 ,100, 250, 0, 100, 0, 0, 50, 50};
364 double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100};
366 ai_list_iterator ai_list_itr = ai_list.begin();
367 ai_list_iterator end = ai_list.end();
369 while (ai_list_itr != end) {
370 double tgt_alt = (*ai_list_itr)->_getAltitude();
371 int type = (*ai_list_itr)->getType();
372 tgt_ht[type] += fuse_range;
374 if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
375 || type == FGAIBase::otStorm || type == FGAIBase::otThermal) {
376 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: skipping "
377 << fabs(tgt_alt - alt)
385 double tgt_lat = (*ai_list_itr)->_getLatitude();
386 double tgt_lon = (*ai_list_itr)->_getLongitude();
387 int id = (*ai_list_itr)->getID();
389 double range = calcRange(lat, lon, tgt_lat, tgt_lon);
391 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: AI list size "
395 << " range " << range
396 //<< " bearing " << bearing
397 << " alt " << tgt_alt
400 tgt_length[type] += fuse_range;
402 if (range < tgt_length[type]){
403 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: HIT! "
406 << " range " << range
407 << " alt " << tgt_alt
417 FGAIManager::calcRange(double lat, double lon, double lat2, double lon2) const
419 double course, az2, distance;
421 //calculate the bearing and range of the second pos from the first
422 geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
423 distance *= SG_METER_TO_FEET;