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"
43 FGAIManager::FGAIManager() {
47 for (unsigned i = 0; i < FGAIBase::MAX_OBJECTS; ++i)
48 mNumAiTypeModels[i] = 0;
51 FGAIManager::~FGAIManager() {
52 ai_list_iterator ai_list_itr = ai_list.begin();
54 while(ai_list_itr != ai_list.end()) {
55 (*ai_list_itr)->unbind();
62 root = fgGetNode("sim/ai", true);
64 enabled = root->getNode("enabled", true)->getBoolValue();
69 thermal_lift_node = fgGetNode("/environment/thermal-lift-fps", true);
70 wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
71 wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
73 user_latitude_node = fgGetNode("/position/latitude-deg", true);
74 user_longitude_node = fgGetNode("/position/longitude-deg", true);
75 user_altitude_node = fgGetNode("/position/altitude-ft", true);
76 user_heading_node = fgGetNode("/orientation/heading-deg", true);
77 user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
78 user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
79 user_roll_node = fgGetNode("/orientation/roll-deg", true);
80 user_speed_node = fgGetNode("/velocities/uBody-fps", true);
84 FGAIManager::postinit() {
85 // postinit, so that it can access the Nasal subsystem
86 map<string, bool> scenarios;
87 for (int i = 0 ; i < root->nChildren() ; i++) {
88 SGPropertyNode *n = root->getChild(i);
89 if (strcmp(n->getName(), "scenario"))
92 string name = n->getStringValue();
96 if (scenarios.find(name) != scenarios.end()) {
97 SG_LOG(SG_GENERAL, SG_WARN, "won't load scenario '" << name << "' twice");
101 SG_LOG(SG_GENERAL, SG_ALERT, "loading scenario '" << name << '\'');
102 processScenario(name);
103 scenarios[name] = true;
108 FGAIManager::reinit() {
110 ai_list_iterator ai_list_itr = ai_list.begin();
112 while(ai_list_itr != ai_list.end()) {
113 (*ai_list_itr)->reinit();
119 FGAIManager::bind() {
120 root = globals->get_props()->getNode("ai/models", true);
121 root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
122 &FGAIManager::getNumAiObjects));
126 FGAIManager::unbind() {
127 root->untie("count");
131 FGAIManager::update(double dt) {
132 // initialize these for finding nearest thermals
133 range_nearest = 10000.0;
139 FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
142 ai_list_iterator ai_list_itr = ai_list.begin();
144 while(ai_list_itr != ai_list.end()) {
146 if ((*ai_list_itr)->getDie()) {
147 tmgr->release((*ai_list_itr)->getID());
149 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
150 FGAIBase *base = (*ai_list_itr).get();
151 SGPropertyNode *props = base->_getProps();
153 props->setBoolValue("valid", false);
156 // for backward compatibility reset properties, so that aircraft,
157 // which don't know the <valid> property, keep working
158 // TODO: remove after a while
159 props->setIntValue("id", -1);
160 props->setBoolValue("radar/in-range", false);
161 props->setIntValue("refuel/tanker", false);
163 ai_list_itr = ai_list.erase(ai_list_itr);
166 if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
167 FGAIBase *base = (*ai_list_itr).get();
168 processThermal((FGAIThermal*)base);
170 (*ai_list_itr)->update(_dt);
176 thermal_lift_node->setDoubleValue( strength ); // for thermals
180 FGAIManager::attach(FGAIBase *model)
182 //unsigned idx = mNumAiTypeModels[model->getType()];
183 const char* typeString = model->getTypeString();
184 SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
188 // find free index in the property tree, if we have
189 // more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
190 for (i = 0; i < 10000; i++) {
191 p = root->getNode(typeString, i, false);
193 if (!p || !p->getBoolValue("valid", false))
196 if (p->getIntValue("id",-1)==model->getID()) {
197 p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
201 p = root->getNode(typeString, i, true);
202 model->setManager(this, p);
203 ai_list.push_back(model);
205 ++(mNumAiTypeModels[model->getType()]);
206 model->init(model->getType()==FGAIBase::otAircraft
207 || model->getType()==FGAIBase::otMultiplayer
208 || model->getType()==FGAIBase::otStatic);
210 p->setBoolValue("valid", true);
214 FGAIManager::destroyObject( int ID ) {
215 ai_list_iterator ai_list_itr = ai_list.begin();
217 while(ai_list_itr != ai_list.end()) {
219 if ((*ai_list_itr)->getID() == ID) {
221 --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
222 (*ai_list_itr)->unbind();
223 ai_list_itr = ai_list.erase(ai_list_itr);
231 FGAIManager::getNumAiObjects(void) const
237 FGAIManager::fetchUserState( void ) {
238 user_latitude = user_latitude_node->getDoubleValue();
239 user_longitude = user_longitude_node->getDoubleValue();
240 user_altitude = user_altitude_node->getDoubleValue();
241 user_heading = user_heading_node->getDoubleValue();
242 user_pitch = user_pitch_node->getDoubleValue();
243 user_yaw = user_yaw_node->getDoubleValue();
244 user_speed = user_speed_node->getDoubleValue() * 0.592484;
245 user_roll = user_roll_node->getDoubleValue();
246 wind_from_east = wind_from_east_node->getDoubleValue();
247 wind_from_north = wind_from_north_node->getDoubleValue();
250 // only keep the results from the nearest thermal
252 FGAIManager::processThermal( FGAIThermal* thermal ) {
253 thermal->update(_dt);
255 if ( thermal->_getRange() < range_nearest ) {
256 range_nearest = thermal->_getRange();
257 strength = thermal->getStrength();
265 FGAIManager::processScenario( const string &filename ) {
267 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
272 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
277 for (int i = 0; i < scenarios->nChildren(); i++) {
278 SGPropertyNode* scEntry = scenarios->getChild(i);
280 if (strcmp(scEntry->getName(), "entry"))
282 std::string type = scEntry->getStringValue("type", "aircraft");
284 if (type == "tanker") { // refueling scenarios
285 FGAITanker* tanker = new FGAITanker;
286 tanker->readFromScenario(scEntry);
289 } else if (type == "wingman") {
290 FGAIWingman* wingman = new FGAIWingman;
291 wingman->readFromScenario(scEntry);
294 } else if (type == "aircraft") {
295 FGAIAircraft* aircraft = new FGAIAircraft;
296 aircraft->readFromScenario(scEntry);
299 } else if (type == "ship") {
300 FGAIShip* ship = new FGAIShip;
301 ship->readFromScenario(scEntry);
304 } else if (type == "carrier") {
305 FGAICarrier* carrier = new FGAICarrier;
306 carrier->readFromScenario(scEntry);
309 } else if (type == "groundvehicle") {
310 FGAIGroundVehicle* groundvehicle = new FGAIGroundVehicle;
311 groundvehicle->readFromScenario(scEntry);
312 attach(groundvehicle);
314 } else if (type == "thunderstorm") {
315 FGAIStorm* storm = new FGAIStorm;
316 storm->readFromScenario(scEntry);
319 } else if (type == "thermal") {
320 FGAIThermal* thermal = new FGAIThermal;
321 thermal->readFromScenario(scEntry);
324 } else if (type == "ballistic") {
325 FGAIBallistic* ballistic = new FGAIBallistic;
326 ballistic->readFromScenario(scEntry);
329 } else if (type == "static") {
330 FGAIStatic* aistatic = new FGAIStatic;
331 aistatic->readFromScenario(scEntry);
340 FGAIManager::loadScenarioFile(const std::string& filename)
342 SGPath path(globals->get_fg_root());
343 path.append("AI/" + filename + ".xml");
345 SGPropertyNode_ptr root = new SGPropertyNode;
346 readProperties(path.str(), root);
348 } catch (const sg_exception &) {
349 SG_LOG(SG_GENERAL, SG_DEBUG, "Incorrect path specified for AI "
350 "scenario: \"" << path.str() << "\"");
356 FGAIManager::getStartPosition(const string& id, const string& pid,
357 SGGeod& geodPos, double& hdng, SGVec3d& uvw)
360 SGPropertyNode* root = fgGetNode("sim/ai", true);
361 if (!root->getNode("enabled", true)->getBoolValue())
364 for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
365 SGPropertyNode *aiEntry = root->getChild( i );
366 if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
367 string filename = aiEntry->getStringValue();
368 SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
370 SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
372 for (int i = 0; i < scenarios->nChildren(); i++) {
373 SGPropertyNode* scEntry = scenarios->getChild(i);
374 std::string type = scEntry->getStringValue("type");
375 std::string pnumber = scEntry->getStringValue("pennant-number");
376 std::string name = scEntry->getStringValue("name");
377 if (type == "carrier" && (pnumber == id || name == id)) {
378 osg::ref_ptr<FGAICarrier> carrier = new FGAICarrier;
379 carrier->readFromScenario(scEntry);
381 if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
395 FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
397 // we specify tgt extent (ft) according to the AIObject type
398 double tgt_ht[] = {0, 50 ,100, 250, 0, 100, 0, 0, 50, 50, 50};
399 double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 100};
400 ai_list_iterator ai_list_itr = ai_list.begin();
401 ai_list_iterator end = ai_list.end();
403 while (ai_list_itr != end) {
404 double tgt_alt = (*ai_list_itr)->_getAltitude();
405 int type = (*ai_list_itr)->getType();
406 tgt_ht[type] += fuse_range;
408 if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
409 || type == FGAIBase::otStorm || type == FGAIBase::otThermal ) {
410 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: skipping "
411 << fabs(tgt_alt - alt)
419 double tgt_lat = (*ai_list_itr)->_getLatitude();
420 double tgt_lon = (*ai_list_itr)->_getLongitude();
421 int id = (*ai_list_itr)->getID();
423 double range = calcRange(lat, lon, tgt_lat, tgt_lon);
425 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: AI list size "
429 << " range " << range
430 //<< " bearing " << bearing
431 << " alt " << tgt_alt
434 tgt_length[type] += fuse_range;
436 if (range < tgt_length[type]){
437 SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: HIT! "
440 << " range " << range
441 << " alt " << tgt_alt
443 return (*ai_list_itr).get();
451 FGAIManager::calcRange(double lat, double lon, double lat2, double lon2) const
453 double course, az2, distance;
455 //calculate the bearing and range of the second pos from the first
456 geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
457 distance *= SG_METER_TO_FEET;