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>
27 #include "AIWingman.hxx"
29 FGAIWingman::FGAIWingman() : FGAIBallistic(otWingman),
46 FGAIWingman::~FGAIWingman() {}
48 void FGAIWingman::readFromScenario(SGPropertyNode* scFileNode) {
52 FGAIBase::readFromScenario(scFileNode);
54 setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0));
55 setElevation(scFileNode->getDoubleValue("elevation", 0.0));
56 setLife(scFileNode->getDoubleValue("life", -1));
57 setNoRoll(scFileNode->getBoolValue("no-roll", false));
58 setName(scFileNode->getStringValue("name", "Wingman"));
59 setParentName(scFileNode->getStringValue("parent", ""));
60 setSubID(scFileNode->getIntValue("SubID", 0));
61 setXoffset(scFileNode->getDoubleValue("x-offset", 0.0));
62 setYoffset(scFileNode->getDoubleValue("y-offset", 0.0));
63 setZoffset(scFileNode->getDoubleValue("z-offset", 0.0));
64 setPitchoffset(scFileNode->getDoubleValue("pitch-offset", 0.0));
65 setRolloffset(scFileNode->getDoubleValue("roll-offset", 0.0));
66 setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0));
67 setGroundOffset(scFileNode->getDoubleValue("ground-offset", 0.0));
68 setFormate(scFileNode->getBoolValue("formate", true));
69 setMaxSpeed(scFileNode->getDoubleValue("max-speed-kts", 300.0));
70 setCoeffHdg(scFileNode->getDoubleValue("coefficients/heading", 5.0));
71 setCoeffPch(scFileNode->getDoubleValue("coefficients/pitch", 5.0));
72 setCoeffBnk(scFileNode->getDoubleValue("coefficients/bank", 4.0));
73 setCoeffSpd(scFileNode->getDoubleValue("coefficients/speed", 2.0));
78 void FGAIWingman::bind() {
79 FGAIBallistic::bind();
81 props->untie("controls/slave-to-ac");
83 tie("id", SGRawValueMethods<FGAIBase,int>(*this,
85 tie("subID", SGRawValueMethods<FGAIBase,int>(*this,
86 &FGAIBase::_getSubID));
87 tie("position/altitude-ft",
88 SGRawValueMethods<FGAIBase,double>(*this,
89 &FGAIBase::_getElevationFt,
90 &FGAIBase::_setAltitude));
91 tie("position/latitude-deg",
92 SGRawValueMethods<FGAIBase,double>(*this,
93 &FGAIBase::_getLatitude,
94 &FGAIBase::_setLatitude));
95 tie("position/longitude-deg",
96 SGRawValueMethods<FGAIBase,double>(*this,
97 &FGAIBase::_getLongitude,
98 &FGAIBase::_setLongitude));
100 tie("controls/break", SGRawValuePointer<bool>(&_break));
101 tie("controls/join", SGRawValuePointer<bool>(&_join));
103 tie("controls/formate-to-ac",
104 SGRawValueMethods<FGAIWingman,bool>
105 (*this, &FGAIWingman::getFormate, &FGAIWingman::setFormate));
106 tie("controls/tgt-heading-deg",
107 SGRawValueMethods<FGAIWingman,double>
108 (*this, &FGAIWingman::getTgtHdg, &FGAIWingman::setTgtHdg));
109 tie("controls/tgt-speed-kt",
110 SGRawValueMethods<FGAIWingman,double>
111 (*this, &FGAIWingman::getTgtSpd, &FGAIWingman::setTgtSpd));
112 tie("controls/break-deg-rel",
113 SGRawValueMethods<FGAIWingman,double>
114 (*this, &FGAIWingman::getBrkAng, &FGAIWingman::setBrkAng));
115 tie("controls/coefficients/heading",
116 SGRawValuePointer<double>(&_coeff_hdg));
117 tie("controls/coefficients/pitch",
118 SGRawValuePointer<double>(&_coeff_pch));
119 tie("controls/coefficients/bank",
120 SGRawValuePointer<double>(&_coeff_bnk));
121 tie("controls/coefficients/speed",
122 SGRawValuePointer<double>(&_coeff_spd));
124 tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
125 tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
126 tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
128 tie("submodels/serviceable", SGRawValuePointer<bool>(&serviceable));
130 tie("load/rel-brg-to-user-deg",
131 SGRawValueMethods<FGAIBallistic,double>
132 (*this, &FGAIBallistic::getRelBrgHitchToUser));
133 tie("load/elev-to-user-deg",
134 SGRawValueMethods<FGAIBallistic,double>
135 (*this, &FGAIBallistic::getElevHitchToUser));
137 tie("velocities/vertical-speed-fps",
138 SGRawValuePointer<double>(&vs));
139 tie("velocities/true-airspeed-kt",
140 SGRawValuePointer<double>(&speed));
141 tie("velocities/speed-east-fps",
142 SGRawValuePointer<double>(&_speed_east_fps));
143 tie("velocities/speed-north-fps",
144 SGRawValuePointer<double>(&_speed_north_fps));
146 tie("position/x-offset",
147 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getXOffset, &FGAIBase::setXoffset));
148 tie("position/y-offset",
149 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getYOffset, &FGAIBase::setYoffset));
150 tie("position/z-offset",
151 SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getZOffset, &FGAIBase::setZoffset));
152 tie("position/tgt-x-offset",
153 SGRawValueMethods<FGAIBallistic,double>(*this, &FGAIBallistic::getTgtXOffset, &FGAIBallistic::setTgtXOffset));
154 tie("position/tgt-y-offset",
155 SGRawValueMethods<FGAIBallistic,double>(*this, &FGAIBallistic::getTgtYOffset, &FGAIBallistic::setTgtYOffset));
156 tie("position/tgt-z-offset",
157 SGRawValueMethods<FGAIBallistic,double>(*this, &FGAIBallistic::getTgtZOffset, &FGAIBallistic::setTgtZOffset));
160 bool FGAIWingman::init(bool search_in_AI_path) {
161 if (!FGAIBallistic::init(search_in_AI_path))
167 void FGAIWingman::reinit() {
170 _tgt_x_offset = _x_offset;
171 _tgt_y_offset = _y_offset;
172 _tgt_z_offset = _z_offset;
183 setParentNodes(_selected_ac);
185 props->setStringValue("submodels/path", _path.c_str());
186 user_WoW_node = fgGetNode("gear/gear[1]/wow", true);
188 FGAIBallistic::reinit();
191 void FGAIWingman::update(double dt) {
193 // FGAIBallistic::update(dt);
198 setBrkHdg(_break_angle);
200 FGAIBase::update(dt);
201 tgt_altitude_ft = altitude_ft;
214 double FGAIWingman::calcDistanceM(SGGeod pos1, SGGeod pos2) const {
215 //calculate the distance load to hitch
216 SGVec3d cartPos1 = SGVec3d::fromGeod(pos1);
217 SGVec3d cartPos2 = SGVec3d::fromGeod(pos2);
219 SGVec3d diff = cartPos1 - cartPos2;
220 double distance = norm(diff);
224 double FGAIWingman::calcAngle(double range, SGGeod pos1, SGGeod pos2){
227 double distance = calcDistanceM(pos1, pos2);
228 double daltM = pos1.getElevationM() - pos2.getElevationM();
230 if (fabs(distance) < SGLimits<float>::min()) {
233 double sAngle = daltM/range;
234 sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
235 angle = SGMiscd::rad2deg(asin(sAngle));
241 void FGAIWingman::formateToAC(double dt){
243 double p_hdg, p_pch, p_rll, p_agl, p_ht, p_wow = 0;
245 setTgtOffsets(dt, 25);
249 p_hdg = _p_hdg_node->getDoubleValue();
250 p_pch = _p_pch_node->getDoubleValue();
251 p_rll = _p_rll_node->getDoubleValue();
252 p_ht = _p_alt_node->getDoubleValue();
253 setOffsetPos(_parentpos, p_hdg, p_pch, p_rll);
254 setSpeed(_p_spd_node->getDoubleValue());
256 p_hdg = manager->get_user_heading();
257 p_pch = manager->get_user_pitch();
258 p_rll = manager->get_user_roll();
259 p_ht = globals->get_aircraft_position().getElevationFt();
260 setOffsetPos(globals->get_aircraft_position(), p_hdg,p_pch, p_rll);
261 setSpeed(manager->get_user_speed());
264 // elapsed time has a random initialisation so that each
265 // wingman moves differently
268 // we derive a sine based factor to give us smoothly
269 // varying error between -1 and 1
270 double factor = sin(SGMiscd::deg2rad(_elapsed_time * 10));
271 double r_angle = 5 * factor;
272 double p_angle = 2.5 * factor;
273 double h_angle = 5 * factor;
274 double h_feet = 3 * factor;
276 p_agl = manager->get_user_agl();
277 p_wow = user_WoW_node->getDoubleValue();
279 if(p_agl <= 10 || p_wow == 1) {
281 //cout << "ht case1 " ;
282 } else if (p_agl > 10 && p_agl <= 150 ) {
283 setHt(p_ht, dt, 1.0);
284 //cout << "ht case2 " ;
285 } else if (p_agl > 150 && p_agl <= 250) {
286 setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.75);
287 //cout << "ht case3 " ;
289 setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.5);
290 //cout << "ht case4 " ;
293 pos.setElevationFt(_height);
294 pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
295 pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
297 // these calculations are unreliable at slow speeds
298 // and we don't want random movement on the ground
299 if(speed >= 10 && p_wow != 1) {
300 setHdg(p_hdg + h_angle, dt, 0.9);
301 setPch(p_pch + p_angle + _pitch_offset, dt, 0.9);
303 if (roll <= 115 && roll >= -115)
304 setBnk(p_rll + r_angle + _roll_offset, dt, 0.5);
306 roll = p_rll + r_angle + _roll_offset;
309 setHdg(p_hdg, dt, 0.9);
310 setPch(p_pch + _pitch_offset, dt, 0.9);
311 setBnk(p_rll + _roll_offset, dt, 0.9);
314 setOffsetVelocity(dt, pos);
317 void FGAIWingman::Break(double dt) {
321 //calculate the turn direction: 1 = right, -1 = left
322 double rel_brg = calcRelBearingDeg(tgt_heading, hdg);
323 int turn = SGMiscd::sign(rel_brg);
325 // set heading and pitch
326 setHdg(tgt_heading, dt, _coeff_hdg);
327 setPch(0, dt, _coeff_pch);
329 if (fabs(tgt_heading - hdg) >= 10)
330 setBnk(45 * turn , dt, _coeff_bnk);
332 setBnk(0, dt, _coeff_bnk);
336 void FGAIWingman::Join(double dt) {
338 double range, bearing, az2;
339 double parent_hdg, parent_spd = 0;
340 double p_hdg, p_pch, p_rll = 0;
342 setTgtOffsets(dt, 25);
346 p_hdg = _p_hdg_node->getDoubleValue();
347 p_pch = _p_pch_node->getDoubleValue();
348 p_rll = _p_rll_node->getDoubleValue();
349 setOffsetPos(_parentpos, p_hdg, p_pch, p_rll);
350 parent_hdg = _p_hdg_node->getDoubleValue();
351 parent_spd = _p_spd_node->getDoubleValue();
353 p_hdg = manager->get_user_heading();
354 p_pch = manager->get_user_pitch();
355 p_rll = manager->get_user_roll();
356 setOffsetPos(globals->get_aircraft_position(), p_hdg, p_pch, p_rll);
357 parent_hdg = manager->get_user_heading();
358 parent_spd = manager->get_user_speed();
361 setSpeed(parent_spd);
363 double distance = calcDistanceM(pos, _offsetpos);
364 double daltM = _offsetpos.getElevationM() - pos.getElevationM();
366 double hdg_l_lim = parent_hdg - limit;
367 SG_NORMALIZE_RANGE(hdg_l_lim, 0.0, 360.0);
368 double hdg_r_lim = parent_hdg + limit;
369 SG_NORMALIZE_RANGE(hdg_r_lim, 0.0, 360.0);
371 if (distance <= 2 && fabs(daltM) <= 2 &&
372 (hdg >= hdg_l_lim || hdg <= hdg_r_lim)){
373 _height = _offsetpos.getElevationFt();
374 _formate_to_ac = true;
377 SG_LOG(SG_AI, SG_ALERT, _name << " joined " << " RANGE " << distance
378 << " SPEED " << speed );
383 geo_inverse_wgs_84(pos, _offsetpos, &bearing, &az2, &range);
385 double rel_brg = calcRelBearingDeg(bearing, hdg);
386 double recip_brg = calcRecipBearingDeg(bearing);
387 double angle = calcAngle(distance,_offsetpos, pos);
388 //double approx_angle = atan2(daltM, range);
389 double frm_spd = 50; // formation speed
390 double join_rnge = 1000.0;
391 // double recip_parent_hdg = calcRecipBearingDeg(parent_hdg);
392 int turn = SGMiscd::sign(rel_brg);// turn direction: 1 = right, -1 = left
394 if (range <= join_rnge && (hdg >= hdg_l_lim || hdg <= hdg_r_lim)){
396 //these are the rules governing joining
398 if ((rel_brg <= -175 || rel_brg >= 175) && range <=10 ){
399 // station is behind us - back up a bit
400 setSpeed(parent_spd - ((frm_spd/join_rnge) * range));
401 setHdg(recip_brg, dt, _coeff_hdg);
402 setPch(angle, dt, _coeff_pch);
403 //cout << _name << " backing up HEADING " << hdg
404 // << " RANGE " << range;
405 } else if (rel_brg >= -5 || rel_brg <= 5) {
406 // station is in front of us - slow down
407 setSpeed(parent_spd + ((frm_spd/100) * range));
409 setHdg(bearing, dt, 1.5);
410 setPch(angle, dt, _coeff_pch);
411 //cout << _name << " slowing HEADING " << hdg
412 // << " RANGE " << range <<endl;
413 } else if ( range <=10 ){
414 // station is to one side - equal speed and turn towards
415 setSpd(parent_spd , dt, 2.0);
417 setHdg(parent_hdg + (5 * turn), dt, _coeff_hdg);
418 //cout << _name << " equal speed HEADING " << hdg
419 // << " RANGE " << range<< endl;
421 // we missed it - equal speed and turn to recip
422 setSpd(parent_spd , dt, 2.0);
424 setHdg(recip_brg, dt, _coeff_hdg);
425 //cout << _name << " WHOOPS!! missed join HEADING " << hdg
426 // << " RANGE " << range<< endl;
429 } else if (range <= join_rnge) {
430 // we missed it - equal speed and turn to recip
431 setSpd(parent_spd , dt, 2.0);
433 setHdg(recip_brg , dt, _coeff_hdg);
434 //cout << _name << " WHOOPS!! missed approach HEADING " << hdg
435 // << " " << recip_brg
436 // /*<< " " << recip_parent_hdg*/
437 // << " RANGE " << range<< endl;
438 } else if (range > join_rnge && range <= 2000 ){
440 //cout << _name << " approach HEADING " << hdg
441 // << " RANGE " << range<< endl;
442 setSpd(parent_spd + frm_spd, dt, 2.0);
444 setHdg(bearing, dt, _coeff_hdg);
445 setPch(angle, dt, _coeff_pch);
448 //cout << _name << " hurry up HEADING " << hdg
449 // << " RANGE " << range<< endl;
450 setSpd(_max_speed -10, dt, 2.0);
452 setHdg(bearing, dt, _coeff_hdg);
453 setPch(angle, dt, _coeff_pch);
460 if (fabs(bearing - hdg) >= 10)
461 setBnk(45 * turn , dt, _coeff_bnk);
463 setBnk(0, dt, _coeff_bnk);
467 void FGAIWingman::Run(double dt) {
469 // don't let speed become negative
470 SG_CLAMP_RANGE(speed, 100.0, _max_speed);
472 double speed_fps = speed * SG_KT_TO_FPS;
474 // calculate vertical and horizontal speed components
478 vs = sin( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
479 hs = cos( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
482 //cout << "vs hs " << vs << " " << hs << endl;
484 //resolve horizontal speed into north and east components:
485 double speed_north_fps = cos(hdg / SG_RADIANS_TO_DEGREES) * hs;
486 double speed_east_fps = sin(hdg / SG_RADIANS_TO_DEGREES) * hs;
488 // convert horizontal speed (fps) to degrees per second
489 double speed_north_deg_sec = speed_north_fps / ft_per_deg_lat;
490 double speed_east_deg_sec = speed_east_fps / ft_per_deg_lon;
492 //get wind components
493 _wind_from_north = manager->get_wind_from_north();
494 _wind_from_east = manager->get_wind_from_east();
496 // convert wind speed (fps) to degrees lat/lon per second
497 double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
498 double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
500 //recombine the horizontal velocity components
501 hs = sqrt(((speed_north_fps) * (speed_north_fps))
502 + ((speed_east_fps)* (speed_east_fps )));
507 if (vs <= 0.00001 && vs >= -0.00001)
510 //cout << "lat " << pos.getLatitudeDeg()<< endl;
512 pos.setLatitudeDeg( pos.getLatitudeDeg()
513 + (speed_north_deg_sec - wind_speed_from_north_deg_sec) * dt );
514 pos.setLongitudeDeg( pos.getLongitudeDeg()
515 + (speed_east_deg_sec - wind_speed_from_east_deg_sec ) * dt );
516 pos.setElevationFt(pos.getElevationFt() + vs * dt);
518 //cout << _name << " run hs " << hs << " vs " << vs << endl;
520 // recalculate total speed
521 if ( vs == 0 && hs == 0)
524 speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
526 // recalculate elevation and azimuth (velocity vectors)
527 pitch = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
528 hdg = atan2((speed_east_fps),(speed_north_fps))* SG_RADIANS_TO_DEGREES;
530 // rationalise heading
531 SG_NORMALIZE_RANGE(hdg, 0.0, 360.0);