1 // FGAIWingman - FGAIBllistic-derived class creates an AI Wingman
3 // Written by Vivian Meazza, started February 2008.
4 // - vivian.meazza at lineone.net
6 // This program is free software; you can redistribute it and/or
7 // modify it under the terms of the GNU General Public License as
8 // published by the Free Software Foundation; either version 2 of the
9 // License, or (at your option) any later version.
11 // This program is distributed in the hope that it will be useful, but
12 // WITHOUT ANY WARRANTY; without even the implied warranty of
13 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Public License for more details.
16 // You should have received a copy of the GNU General Public License
17 // along with this program; if not, write to the Free Software
18 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
24 #include <simgear/sg_inlines.h>
25 #include <simgear/math/SGMath.hxx>
28 #include "AIWingman.hxx"
30 FGAIWingman::FGAIWingman() : FGAIBallistic(otWingman),
47 FGAIWingman::~FGAIWingman() {}
49 void FGAIWingman::readFromScenario(SGPropertyNode* scFileNode) {
53 FGAIBase::readFromScenario(scFileNode);
55 setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0));
56 setElevation(scFileNode->getDoubleValue("elevation", 0.0));
57 setLife(scFileNode->getDoubleValue("life", -1));
58 setNoRoll(scFileNode->getBoolValue("no-roll", false));
59 setName(scFileNode->getStringValue("name", "Wingman"));
60 setParentName(scFileNode->getStringValue("parent", ""));
61 setSubID(scFileNode->getIntValue("SubID", 0));
62 setXoffset(scFileNode->getDoubleValue("x-offset", 0.0));
63 setYoffset(scFileNode->getDoubleValue("y-offset", 0.0));
64 setZoffset(scFileNode->getDoubleValue("z-offset", 0.0));
65 setPitchoffset(scFileNode->getDoubleValue("pitch-offset", 0.0));
66 setRolloffset(scFileNode->getDoubleValue("roll-offset", 0.0));
67 setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0));
68 setGroundOffset(scFileNode->getDoubleValue("ground-offset", 0.0));
69 setFormate(scFileNode->getBoolValue("formate", true));
70 setMaxSpeed(scFileNode->getDoubleValue("max-speed-kts", 300.0));
71 setCoeffHdg(scFileNode->getDoubleValue("coefficients/heading", 5.0));
72 setCoeffPch(scFileNode->getDoubleValue("coefficients/pitch", 5.0));
73 setCoeffBnk(scFileNode->getDoubleValue("coefficients/bank", 4.0));
74 setCoeffSpd(scFileNode->getDoubleValue("coefficients/speed", 2.0));
79 void FGAIWingman::bind() {
80 FGAIBallistic::bind();
82 props->untie("controls/slave-to-ac");
84 tie("id", SGRawValueMethods<FGAIBase,int>(*this,
86 tie("subID", SGRawValueMethods<FGAIBase,int>(*this,
87 &FGAIBase::_getSubID));
88 tie("position/altitude-ft",
89 SGRawValueMethods<FGAIBase,double>(*this,
90 &FGAIBase::_getElevationFt,
91 &FGAIBase::_setAltitude));
92 tie("position/latitude-deg",
93 SGRawValueMethods<FGAIBase,double>(*this,
94 &FGAIBase::_getLatitude,
95 &FGAIBase::_setLatitude));
96 tie("position/longitude-deg",
97 SGRawValueMethods<FGAIBase,double>(*this,
98 &FGAIBase::_getLongitude,
99 &FGAIBase::_setLongitude));
101 tie("controls/break", SGRawValuePointer<bool>(&_break));
102 tie("controls/join", SGRawValuePointer<bool>(&_join));
104 tie("controls/formate-to-ac",
105 SGRawValueMethods<FGAIWingman,bool>
106 (*this, &FGAIWingman::getFormate, &FGAIWingman::setFormate));
107 tie("controls/tgt-heading-deg",
108 SGRawValueMethods<FGAIWingman,double>
109 (*this, &FGAIWingman::getTgtHdg, &FGAIWingman::setTgtHdg));
110 tie("controls/tgt-speed-kt",
111 SGRawValueMethods<FGAIWingman,double>
112 (*this, &FGAIWingman::getTgtSpd, &FGAIWingman::setTgtSpd));
113 tie("controls/break-deg-rel",
114 SGRawValueMethods<FGAIWingman,double>
115 (*this, &FGAIWingman::getBrkAng, &FGAIWingman::setBrkAng));
116 tie("controls/coefficients/heading",
117 SGRawValuePointer<double>(&_coeff_hdg));
118 tie("controls/coefficients/pitch",
119 SGRawValuePointer<double>(&_coeff_pch));
120 tie("controls/coefficients/bank",
121 SGRawValuePointer<double>(&_coeff_bnk));
122 tie("controls/coefficients/speed",
123 SGRawValuePointer<double>(&_coeff_spd));
125 tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
126 tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
127 tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
129 tie("submodels/serviceable", SGRawValuePointer<bool>(&serviceable));
131 tie("load/rel-brg-to-user-deg",
132 SGRawValueMethods<FGAIBallistic,double>
133 (*this, &FGAIBallistic::getRelBrgHitchToUser));
134 tie("load/elev-to-user-deg",
135 SGRawValueMethods<FGAIBallistic,double>
136 (*this, &FGAIBallistic::getElevHitchToUser));
138 tie("velocities/vertical-speed-fps",
139 SGRawValuePointer<double>(&vs));
140 tie("velocities/true-airspeed-kt",
141 SGRawValuePointer<double>(&speed));
142 tie("velocities/speed-east-fps",
143 SGRawValuePointer<double>(&_speed_east_fps));
144 tie("velocities/speed-north-fps",
145 SGRawValuePointer<double>(&_speed_north_fps));
147 tie("position/x-offset",
148 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getXOffset, &FGAIBase::setXoffset));
149 tie("position/y-offset",
150 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getYOffset, &FGAIBase::setYoffset));
151 tie("position/z-offset",
152 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getZOffset, &FGAIBase::setZoffset));
153 tie("position/tgt-x-offset",
154 SGRawValueMethods<FGAIBallistic,double>(*this, &FGAIBallistic::getTgtXOffset, &FGAIBallistic::setTgtXOffset));
155 tie("position/tgt-y-offset",
156 SGRawValueMethods<FGAIBallistic,double>(*this, &FGAIBallistic::getTgtYOffset, &FGAIBallistic::setTgtYOffset));
157 tie("position/tgt-z-offset",
158 SGRawValueMethods<FGAIBallistic,double>(*this, &FGAIBallistic::getTgtZOffset, &FGAIBallistic::setTgtZOffset));
161 bool FGAIWingman::init(bool search_in_AI_path) {
162 if (!FGAIBallistic::init(search_in_AI_path))
168 void FGAIWingman::reinit() {
171 _tgt_x_offset = _x_offset;
172 _tgt_y_offset = _y_offset;
173 _tgt_z_offset = _z_offset;
184 setParentNodes(_selected_ac);
186 props->setStringValue("submodels/path", _path.c_str());
187 user_WoW_node = fgGetNode("gear/gear[1]/wow", true);
189 FGAIBallistic::reinit();
192 void FGAIWingman::update(double dt) {
194 // FGAIBallistic::update(dt);
199 setBrkHdg(_break_angle);
201 FGAIBase::update(dt);
202 tgt_altitude_ft = altitude_ft;
215 double FGAIWingman::calcDistanceM(SGGeod pos1, SGGeod pos2) const {
216 //calculate the distance load to hitch
217 SGVec3d cartPos1 = SGVec3d::fromGeod(pos1);
218 SGVec3d cartPos2 = SGVec3d::fromGeod(pos2);
220 SGVec3d diff = cartPos1 - cartPos2;
221 double distance = norm(diff);
225 double FGAIWingman::calcAngle(double range, SGGeod pos1, SGGeod pos2){
228 double distance = calcDistanceM(pos1, pos2);
229 double daltM = pos1.getElevationM() - pos2.getElevationM();
231 if (fabs(distance) < SGLimits<float>::min()) {
234 double sAngle = daltM/range;
235 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
236 angle = SGMiscd::rad2deg(asin(sAngle));
242 void FGAIWingman::formateToAC(double dt){
244 double p_hdg, p_pch, p_rll, p_agl, p_ht, p_wow = 0;
246 setTgtOffsets(dt, 25);
250 p_hdg = _p_hdg_node->getDoubleValue();
251 p_pch = _p_pch_node->getDoubleValue();
252 p_rll = _p_rll_node->getDoubleValue();
253 p_ht = _p_alt_node->getDoubleValue();
254 setOffsetPos(_parentpos, p_hdg, p_pch, p_rll);
255 setSpeed(_p_spd_node->getDoubleValue());
258 p_hdg = manager->get_user_heading();
259 p_pch = manager->get_user_pitch();
260 p_rll = manager->get_user_roll();
261 p_ht = manager->get_user_altitude();
262 setOffsetPos(userpos, p_hdg,p_pch, p_rll);
263 setSpeed(manager->get_user_speed());
266 // elapsed time has a random initialisation so that each
267 // wingman moves differently
270 // we derive a sine based factor to give us smoothly
271 // varying error between -1 and 1
272 double factor = sin(SGMiscd::deg2rad(_elapsed_time * 10));
273 double r_angle = 5 * factor;
274 double p_angle = 2.5 * factor;
275 double h_angle = 5 * factor;
276 double h_feet = 3 * factor;
278 p_agl = manager->get_user_agl();
279 p_wow = user_WoW_node->getDoubleValue();
281 if(p_agl <= 10 || p_wow == 1) {
283 //cout << "ht case1 " ;
284 } else if (p_agl > 10 && p_agl <= 150 ) {
285 setHt(p_ht, dt, 1.0);
286 //cout << "ht case2 " ;
287 } else if (p_agl > 150 && p_agl <= 250) {
288 setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.75);
289 //cout << "ht case3 " ;
291 setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.5);
292 //cout << "ht case4 " ;
295 pos.setElevationFt(_height);
296 pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
297 pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
299 // these calculations are unreliable at slow speeds
300 // and we don't want random movement on the ground
301 if(speed >= 10 && p_wow != 1) {
302 setHdg(p_hdg + h_angle, dt, 0.9);
303 setPch(p_pch + p_angle + _pitch_offset, dt, 0.9);
305 if (roll <= 115 && roll >= -115)
306 setBnk(p_rll + r_angle + _roll_offset, dt, 0.5);
308 roll = p_rll + r_angle + _roll_offset;
311 setHdg(p_hdg, dt, 0.9);
312 setPch(p_pch + _pitch_offset, dt, 0.9);
313 setBnk(p_rll + _roll_offset, dt, 0.9);
316 setOffsetVelocity(dt, pos);
319 void FGAIWingman::Break(double dt) {
323 //calculate the turn direction: 1 = right, -1 = left
324 double rel_brg = calcRelBearingDeg(tgt_heading, hdg);
325 int turn = SGMiscd::sign(rel_brg);
327 // set heading and pitch
328 setHdg(tgt_heading, dt, _coeff_hdg);
329 setPch(0, dt, _coeff_pch);
331 if (fabs(tgt_heading - hdg) >= 10)
332 setBnk(45 * turn , dt, _coeff_bnk);
334 setBnk(0, dt, _coeff_bnk);
338 void FGAIWingman::Join(double dt) {
340 double range, bearing, az2;
341 double parent_hdg, parent_spd = 0;
342 double p_hdg, p_pch, p_rll = 0;
344 setTgtOffsets(dt, 25);
348 p_hdg = _p_hdg_node->getDoubleValue();
349 p_pch = _p_pch_node->getDoubleValue();
350 p_rll = _p_rll_node->getDoubleValue();
351 setOffsetPos(_parentpos, p_hdg, p_pch, p_rll);
352 parent_hdg = _p_hdg_node->getDoubleValue();
353 parent_spd = _p_spd_node->getDoubleValue();
356 p_hdg = manager->get_user_heading();
357 p_pch = manager->get_user_pitch();
358 p_rll = manager->get_user_roll();
359 setOffsetPos(userpos, p_hdg, p_pch, p_rll);
360 parent_hdg = manager->get_user_heading();
361 parent_spd = manager->get_user_speed();
364 setSpeed(parent_spd);
366 double distance = calcDistanceM(pos, _offsetpos);
367 double daltM = _offsetpos.getElevationM() - pos.getElevationM();
369 double hdg_l_lim = parent_hdg - limit;
370 SG_NORMALIZE_RANGE(hdg_l_lim, 0.0, 360.0);
371 double hdg_r_lim = parent_hdg + limit;
372 SG_NORMALIZE_RANGE(hdg_r_lim, 0.0, 360.0);
374 if (distance <= 2 && fabs(daltM) <= 2 &&
375 (hdg >= hdg_l_lim || hdg <= hdg_r_lim)){
376 _height = _offsetpos.getElevationFt();
377 _formate_to_ac = true;
380 SG_LOG(SG_AI, SG_ALERT, _name << " joined " << " RANGE " << distance
381 << " SPEED " << speed );
386 geo_inverse_wgs_84(pos, _offsetpos, &bearing, &az2, &range);
388 double rel_brg = calcRelBearingDeg(bearing, hdg);
389 double recip_brg = calcRecipBearingDeg(bearing);
390 double angle = calcAngle(distance,_offsetpos, pos);
391 //double approx_angle = atan2(daltM, range);
392 double frm_spd = 50; // formation speed
393 double join_rnge = 1000.0;
394 // double recip_parent_hdg = calcRecipBearingDeg(parent_hdg);
395 int turn = SGMiscd::sign(rel_brg);// turn direction: 1 = right, -1 = left
397 if (range <= join_rnge && (hdg >= hdg_l_lim || hdg <= hdg_r_lim)){
399 //these are the rules governing joining
401 if ((rel_brg <= -175 || rel_brg >= 175) && range <=10 ){
402 // station is behind us - back up a bit
403 setSpeed(parent_spd - ((frm_spd/join_rnge) * range));
404 setHdg(recip_brg, dt, _coeff_hdg);
405 setPch(angle, dt, _coeff_pch);
406 //cout << _name << " backing up HEADING " << hdg
407 // << " RANGE " << range;
408 } else if (rel_brg >= -5 || rel_brg <= 5) {
409 // station is in front of us - slow down
410 setSpeed(parent_spd + ((frm_spd/100) * range));
412 setHdg(bearing, dt, 1.5);
413 setPch(angle, dt, _coeff_pch);
414 //cout << _name << " slowing HEADING " << hdg
415 // << " RANGE " << range <<endl;
416 } else if ( range <=10 ){
417 // station is to one side - equal speed and turn towards
418 setSpd(parent_spd , dt, 2.0);
420 setHdg(parent_hdg + (5 * turn), dt, _coeff_hdg);
421 //cout << _name << " equal speed HEADING " << hdg
422 // << " RANGE " << range<< endl;
424 // we missed it - equal speed and turn to recip
425 setSpd(parent_spd , dt, 2.0);
427 setHdg(recip_brg, dt, _coeff_hdg);
428 //cout << _name << " WHOOPS!! missed join HEADING " << hdg
429 // << " RANGE " << range<< endl;
432 } else if (range <= join_rnge) {
433 // we missed it - equal speed and turn to recip
434 setSpd(parent_spd , dt, 2.0);
436 setHdg(recip_brg , dt, _coeff_hdg);
437 //cout << _name << " WHOOPS!! missed approach HEADING " << hdg
438 // << " " << recip_brg
439 // /*<< " " << recip_parent_hdg*/
440 // << " RANGE " << range<< endl;
441 } else if (range > join_rnge && range <= 2000 ){
443 //cout << _name << " approach HEADING " << hdg
444 // << " RANGE " << range<< endl;
445 setSpd(parent_spd + frm_spd, dt, 2.0);
447 setHdg(bearing, dt, _coeff_hdg);
448 setPch(angle, dt, _coeff_pch);
451 //cout << _name << " hurry up HEADING " << hdg
452 // << " RANGE " << range<< endl;
453 setSpd(_max_speed -10, dt, 2.0);
455 setHdg(bearing, dt, _coeff_hdg);
456 setPch(angle, dt, _coeff_pch);
463 if (fabs(bearing - hdg) >= 10)
464 setBnk(45 * turn , dt, _coeff_bnk);
466 setBnk(0, dt, _coeff_bnk);
470 void FGAIWingman::Run(double dt) {
472 // don't let speed become negative
473 SG_CLAMP_RANGE(speed, 100.0, _max_speed);
475 double speed_fps = speed * SG_KT_TO_FPS;
477 // calculate vertical and horizontal speed components
481 vs = sin( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
482 hs = cos( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
485 //cout << "vs hs " << vs << " " << hs << endl;
487 //resolve horizontal speed into north and east components:
488 double speed_north_fps = cos(hdg / SG_RADIANS_TO_DEGREES) * hs;
489 double speed_east_fps = sin(hdg / SG_RADIANS_TO_DEGREES) * hs;
491 // convert horizontal speed (fps) to degrees per second
492 double speed_north_deg_sec = speed_north_fps / ft_per_deg_lat;
493 double speed_east_deg_sec = speed_east_fps / ft_per_deg_lon;
495 //get wind components
496 _wind_from_north = manager->get_wind_from_north();
497 _wind_from_east = manager->get_wind_from_east();
499 // convert wind speed (fps) to degrees lat/lon per second
500 double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
501 double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
503 //recombine the horizontal velocity components
504 hs = sqrt(((speed_north_fps) * (speed_north_fps))
505 + ((speed_east_fps)* (speed_east_fps )));
510 if (vs <= 0.00001 && vs >= -0.00001)
513 //cout << "lat " << pos.getLatitudeDeg()<< endl;
515 pos.setLatitudeDeg( pos.getLatitudeDeg()
516 + (speed_north_deg_sec - wind_speed_from_north_deg_sec) * dt );
517 pos.setLongitudeDeg( pos.getLongitudeDeg()
518 + (speed_east_deg_sec - wind_speed_from_east_deg_sec ) * dt );
519 pos.setElevationFt(pos.getElevationFt() + vs * dt);
521 //cout << _name << " run hs " << hs << " vs " << vs << endl;
523 // recalculate total speed
524 if ( vs == 0 && hs == 0)
527 speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
529 // recalculate elevation and azimuth (velocity vectors)
530 pitch = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
531 hdg = atan2((speed_east_fps),(speed_north_fps))* SG_RADIANS_TO_DEGREES;
533 // rationalise heading
534 SG_NORMALIZE_RANGE(hdg, 0.0, 360.0);