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 props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
86 props->tie("subID", SGRawValueMethods<FGAIBase,int>(*this,
87 &FGAIBase::_getSubID));
88 props->tie("position/altitude-ft",
89 SGRawValueMethods<FGAIBase,double>(*this,
90 &FGAIBase::_getElevationFt,
91 &FGAIBase::_setAltitude));
92 props->tie("position/latitude-deg",
93 SGRawValueMethods<FGAIBase,double>(*this,
94 &FGAIBase::_getLatitude,
95 &FGAIBase::_setLatitude));
96 props->tie("position/longitude-deg",
97 SGRawValueMethods<FGAIBase,double>(*this,
98 &FGAIBase::_getLongitude,
99 &FGAIBase::_setLongitude));
101 props->tie("controls/break", SGRawValuePointer<bool>(&_break));
102 props->tie("controls/join", SGRawValuePointer<bool>(&_join));
104 props->tie("controls/formate-to-ac",
105 SGRawValueMethods<FGAIWingman,bool>
106 (*this, &FGAIWingman::getFormate, &FGAIWingman::setFormate));
107 props->tie("controls/tgt-heading-deg",
108 SGRawValueMethods<FGAIWingman,double>
109 (*this, &FGAIWingman::getTgtHdg, &FGAIWingman::setTgtHdg));
110 props->tie("controls/tgt-speed-kt",
111 SGRawValueMethods<FGAIWingman,double>
112 (*this, &FGAIWingman::getTgtSpd, &FGAIWingman::setTgtSpd));
113 props->tie("controls/break-deg-rel",
114 SGRawValueMethods<FGAIWingman,double>
115 (*this, &FGAIWingman::getBrkAng, &FGAIWingman::setBrkAng));
116 props->tie("controls/coefficients/heading",
117 SGRawValuePointer<double>(&_coeff_hdg));
118 props->tie("controls/coefficients/pitch",
119 SGRawValuePointer<double>(&_coeff_pch));
120 props->tie("controls/coefficients/bank",
121 SGRawValuePointer<double>(&_coeff_bnk));
122 props->tie("controls/coefficients/speed",
123 SGRawValuePointer<double>(&_coeff_spd));
125 props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
126 props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
127 props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
129 props->tie("submodels/serviceable", SGRawValuePointer<bool>(&serviceable));
131 props->tie("load/rel-brg-to-user-deg",
132 SGRawValueMethods<FGAIBallistic,double>
133 (*this, &FGAIBallistic::getRelBrgHitchToUser));
134 props->tie("load/elev-to-user-deg",
135 SGRawValueMethods<FGAIBallistic,double>
136 (*this, &FGAIBallistic::getElevHitchToUser));
138 props->tie("velocities/vertical-speed-fps",
139 SGRawValuePointer<double>(&vs));
140 props->tie("velocities/true-airspeed-kt",
141 SGRawValuePointer<double>(&speed));
142 props->tie("velocities/speed-east-fps",
143 SGRawValuePointer<double>(&_speed_east_fps));
144 props->tie("velocities/speed-north-fps",
145 SGRawValuePointer<double>(&_speed_north_fps));
147 props->tie("position/x-offset",
148 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getXOffset, &FGAIBase::setXoffset));
149 props->tie("position/y-offset",
150 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getYOffset, &FGAIBase::setYoffset));
151 props->tie("position/z-offset",
152 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getZOffset, &FGAIBase::setZoffset));
153 props->tie("position/tgt-x-offset",
154 SGRawValueMethods<FGAIBallistic,double>(*this, &FGAIBallistic::getTgtXOffset, &FGAIBallistic::setTgtXOffset));
155 props->tie("position/tgt-y-offset",
156 SGRawValueMethods<FGAIBallistic,double>(*this, &FGAIBallistic::getTgtYOffset, &FGAIBallistic::setTgtYOffset));
157 props->tie("position/tgt-z-offset",
158 SGRawValueMethods<FGAIBallistic,double>(*this, &FGAIBallistic::getTgtZOffset, &FGAIBallistic::setTgtZOffset));
161 void FGAIWingman::unbind() {
162 FGAIBallistic::unbind();
165 props->untie("SubID");
167 props->untie("orientation/pitch-deg");
168 props->untie("orientation/roll-deg");
169 props->untie("orientation/true-heading-deg");
171 props->untie("controls/formate-to-ac");
172 props->untie("controls/break");
173 props->untie("controls/join");
174 props->untie("controls/tgt-heading-deg");
175 props->untie("controls/tgt-speed-kt");
176 props->untie("controls/break-deg-rel");
177 props->untie("controls/coefficients/heading");
178 props->untie("controls/coefficients/pitch");
179 props->untie("controls/coefficients/bank");
180 props->untie("controls/coefficients/speed");
182 props->untie("submodels/serviceable");
184 props->untie("velocities/true-airspeed-kt");
185 props->untie("velocities/vertical-speed-fps");
186 props->untie("velocities/speed_east_fps");
187 props->untie("velocities/speed_north_fps");
189 props->untie("load/rel-brg-to-user-deg");
190 props->untie("load/elev-to-user-deg");
192 props->untie("position/altitude-ft");
193 props->untie("position/latitude-deg");
194 props->untie("position/longitude-deg");
195 props->untie("position/x-offset");
196 props->untie("position/y-offset");
197 props->untie("position/z-offset");
198 props->untie("position/tgt-x-offset");
199 props->untie("position/tgt-y-offset");
200 props->untie("position/tgt-z-offset");
203 bool FGAIWingman::init(bool search_in_AI_path) {
204 if (!FGAIBallistic::init(search_in_AI_path))
209 _tgt_x_offset = _x_offset;
210 _tgt_y_offset = _y_offset;
211 _tgt_z_offset = _z_offset;
218 props->setStringValue("submodels/path", _path.c_str());
224 setParentNodes(_selected_ac);
228 void FGAIWingman::update(double dt) {
230 // FGAIBallistic::update(dt);
235 setBrkHdg(_break_angle);
237 FGAIBase::update(dt);
238 tgt_altitude_ft = altitude_ft;
251 double FGAIWingman::calcDistanceM(SGGeod pos1, SGGeod pos2) const {
252 //calculate the distance load to hitch
253 SGVec3d cartPos1 = SGVec3d::fromGeod(pos1);
254 SGVec3d cartPos2 = SGVec3d::fromGeod(pos2);
256 SGVec3d diff = cartPos1 - cartPos2;
257 double distance = norm(diff);
261 double FGAIWingman::calcAngle(double range, SGGeod pos1, SGGeod pos2){
264 double distance = calcDistanceM(pos1, pos2);
265 double daltM = pos1.getElevationM() - pos2.getElevationM();
267 if (fabs(distance) < SGLimits<float>::min()) {
270 double sAngle = daltM/range;
271 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
272 angle = SGMiscd::rad2deg(asin(sAngle));
278 void FGAIWingman::formateToAC(double dt){
280 double p_hdg, p_pch, p_rll, p_agl, p_ht = 0;
282 setTgtOffsets(dt, 25);
286 p_hdg = _p_hdg_node->getDoubleValue();
287 p_pch = _p_pch_node->getDoubleValue();
288 p_rll = _p_rll_node->getDoubleValue();
289 p_ht = _p_alt_node->getDoubleValue();
290 setOffsetPos(_parentpos, p_hdg, p_pch, p_rll);
291 setSpeed(_p_spd_node->getDoubleValue());
294 p_hdg = manager->get_user_heading();
295 p_pch = manager->get_user_pitch();
296 p_rll = manager->get_user_roll();
297 p_ht = manager->get_user_altitude();
298 setOffsetPos(userpos, p_hdg,p_pch, p_rll);
299 setSpeed(manager->get_user_speed());
302 // elapsed time has a random initialisation so that each
303 // wingman moves differently
306 // we derive a sine based factor to give us smoothly
307 // varying error between -1 and 1
308 double factor = sin(SGMiscd::deg2rad(_elapsed_time * 10));
309 double r_angle = 5 * factor;
310 double p_angle = 2.5 * factor;
311 double h_angle = 5 * factor;
312 double h_feet = 3 * factor;
314 p_agl = manager->get_user_agl();
318 //cout << "ht case1 " ;
319 } else if (p_agl > 10 && p_agl <= 150 ) {
320 setHt(p_ht, dt, 1.0);
321 //cout << "ht case2 " ;
322 } else if (p_agl > 150 && p_agl <= 250) {
323 setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.75);
324 //cout << "ht case3 " ;
326 setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.5);
327 //cout << "ht case4 " ;
330 pos.setElevationFt(_height);
331 pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
332 pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
334 // these calculations are unreliable at slow speeds
336 setHdg(p_hdg + h_angle, dt, 0.9);
337 setPch(p_pch + p_angle + _pitch_offset, dt, 0.9);
339 if (roll <= 115 && roll >= -115)
340 setBnk(p_rll + r_angle + _roll_offset, dt, 0.5);
342 roll = p_rll + r_angle + _roll_offset;
345 setHdg(p_hdg, dt, 0.9);
346 setPch(p_pch + _pitch_offset, dt, 0.9);
347 setBnk(p_rll + _roll_offset, dt, 0.9);
350 setOffsetVelocity(dt, pos);
353 void FGAIWingman::Break(double dt) {
357 //calculate the turn direction: 1 = right, -1 = left
358 double rel_brg = calcRelBearingDeg(tgt_heading, hdg);
359 int turn = SGMiscd::sign(rel_brg);
361 // set heading and pitch
362 setHdg(tgt_heading, dt, _coeff_hdg);
363 setPch(0, dt, _coeff_pch);
365 if (fabs(tgt_heading - hdg) >= 10)
366 setBnk(45 * turn , dt, _coeff_bnk);
368 setBnk(0, dt, _coeff_bnk);
372 void FGAIWingman::Join(double dt) {
374 double range, bearing, az2;
375 double parent_hdg, parent_spd, parent_ht= 0;
376 double p_hdg, p_pch, p_rll = 0;
378 setTgtOffsets(dt, 25);
382 p_hdg = _p_hdg_node->getDoubleValue();
383 p_pch = _p_pch_node->getDoubleValue();
384 p_rll = _p_rll_node->getDoubleValue();
385 setOffsetPos(_parentpos, p_hdg, p_pch, p_rll);
386 parent_hdg = _p_hdg_node->getDoubleValue();
387 parent_spd = _p_spd_node->getDoubleValue();
390 p_hdg = manager->get_user_heading();
391 p_pch = manager->get_user_pitch();
392 p_rll = manager->get_user_roll();
393 setOffsetPos(userpos, p_hdg, p_pch, p_rll);
394 parent_hdg = manager->get_user_heading();
395 parent_spd = manager->get_user_speed();
398 setSpeed(parent_spd);
400 double distance = calcDistanceM(pos, _offsetpos);
401 double daltM = _offsetpos.getElevationM() - pos.getElevationM();
403 double hdg_l_lim = parent_hdg - limit;
404 SG_NORMALIZE_RANGE(hdg_l_lim, 0.0, 360.0);
405 double hdg_r_lim = parent_hdg + limit;
406 SG_NORMALIZE_RANGE(hdg_r_lim, 0.0, 360.0);
408 if (distance <= 2 && fabs(daltM) <= 2 &&
409 (hdg >= hdg_l_lim || hdg <= hdg_r_lim)){
410 _height = _offsetpos.getElevationFt();
411 _formate_to_ac = true;
414 SG_LOG(SG_GENERAL, SG_ALERT, _name << " joined " << " RANGE " << distance
415 << " SPEED " << speed );
420 geo_inverse_wgs_84(pos, _offsetpos, &bearing, &az2, &range);
422 double rel_brg = calcRelBearingDeg(bearing, hdg);
423 double recip_brg = calcRecipBearingDeg(bearing);
424 double angle = calcAngle(distance,_offsetpos, pos);
425 double approx_angle = atan2(daltM, range);
426 double frm_spd = 50; // formation speed
427 double join_rnge = 1000.0;
428 double recip_parent_hdg = calcRecipBearingDeg(parent_hdg);
429 int turn = SGMiscd::sign(rel_brg);// turn direction: 1 = right, -1 = left
431 if (range <= join_rnge && (hdg >= hdg_l_lim || hdg <= hdg_r_lim)){
433 //these are the rules governing joining
435 if ((rel_brg <= -175 || rel_brg >= 175) && range <=10 ){
436 // station is behind us - back up a bit
437 setSpeed(parent_spd - ((frm_spd/join_rnge) * range));
438 setHdg(recip_brg, dt, _coeff_hdg);
439 setPch(angle, dt, _coeff_pch);
440 //cout << _name << " backing up HEADING " << hdg
441 // << " RANGE " << range;
442 } else if (rel_brg >= -5 || rel_brg <= 5) {
443 // station is in front of us - slow down
444 setSpeed(parent_spd + ((frm_spd/100) * range));
446 setHdg(bearing, dt, 1.5);
447 setPch(angle, dt, _coeff_pch);
448 //cout << _name << " slowing HEADING " << hdg
449 // << " RANGE " << range <<endl;
450 } else if ( range <=10 ){
451 // station is to one side - equal speed and turn towards
452 setSpd(parent_spd , dt, 2.0);
454 setHdg(parent_hdg + (5 * turn), dt, _coeff_hdg);
455 //cout << _name << " equal speed HEADING " << hdg
456 // << " RANGE " << range<< endl;
458 // we missed it - equal speed and turn to recip
459 setSpd(parent_spd , dt, 2.0);
461 setHdg(recip_brg, dt, _coeff_hdg);
462 //cout << _name << " WHOOPS!! missed join HEADING " << hdg
463 // << " RANGE " << range<< endl;
466 } else if (range <= join_rnge) {
467 // we missed it - equal speed and turn to recip
468 setSpd(parent_spd , dt, 2.0);
470 setHdg(recip_brg , dt, _coeff_hdg);
471 //cout << _name << " WHOOPS!! missed approach HEADING " << hdg
472 // << " " << recip_brg
473 // /*<< " " << recip_parent_hdg*/
474 // << " RANGE " << range<< endl;
475 } else if (range > join_rnge && range <= 2000 ){
477 //cout << _name << " approach HEADING " << hdg
478 // << " RANGE " << range<< endl;
479 setSpd(parent_spd + frm_spd, dt, 2.0);
481 setHdg(bearing, dt, _coeff_hdg);
482 setPch(angle, dt, _coeff_pch);
485 //cout << _name << " hurry up HEADING " << hdg
486 // << " RANGE " << range<< endl;
487 setSpd(_max_speed -10, dt, 2.0);
489 setHdg(bearing, dt, _coeff_hdg);
490 setPch(angle, dt, _coeff_pch);
497 if (fabs(bearing - hdg) >= 10)
498 setBnk(45 * turn , dt, _coeff_bnk);
500 setBnk(0, dt, _coeff_bnk);
504 void FGAIWingman::Run(double dt) {
506 // don't let speed become negative
507 SG_CLAMP_RANGE(speed, 100.0, _max_speed);
509 double speed_fps = speed * SG_KT_TO_FPS;
511 // calculate vertical and horizontal speed components
515 vs = sin( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
516 hs = cos( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
519 //cout << "vs hs " << vs << " " << hs << endl;
521 //resolve horizontal speed into north and east components:
522 double speed_north_fps = cos(hdg / SG_RADIANS_TO_DEGREES) * hs;
523 double speed_east_fps = sin(hdg / SG_RADIANS_TO_DEGREES) * hs;
525 // convert horizontal speed (fps) to degrees per second
526 double speed_north_deg_sec = speed_north_fps / ft_per_deg_lat;
527 double speed_east_deg_sec = speed_east_fps / ft_per_deg_lon;
529 //get wind components
530 _wind_from_north = manager->get_wind_from_north();
531 _wind_from_east = manager->get_wind_from_east();
533 // convert wind speed (fps) to degrees lat/lon per second
534 double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
535 double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
537 //recombine the horizontal velocity components
538 hs = sqrt(((speed_north_fps) * (speed_north_fps))
539 + ((speed_east_fps)* (speed_east_fps )));
544 if (vs <= 0.00001 && vs >= -0.00001)
547 //cout << "lat " << pos.getLatitudeDeg()<< endl;
549 pos.setLatitudeDeg( pos.getLatitudeDeg()
550 + (speed_north_deg_sec - wind_speed_from_north_deg_sec) * dt );
551 pos.setLongitudeDeg( pos.getLongitudeDeg()
552 + (speed_east_deg_sec - wind_speed_from_east_deg_sec ) * dt );
553 pos.setElevationFt(pos.getElevationFt() + vs * dt);
555 //cout << _name << " run hs " << hs << " vs " << vs << endl;
557 // recalculate total speed
558 if ( vs == 0 && hs == 0)
561 speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
563 // recalculate elevation and azimuth (velocity vectors)
564 pitch = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
565 hdg = atan2((speed_east_fps),(speed_north_fps))* SG_RADIANS_TO_DEGREES;
567 // rationalise heading
568 SG_NORMALIZE_RANGE(hdg, 0.0, 360.0);