//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#ifdef HAVE_CONFIG_H
#include <plib/ssg.h>
#include <simgear/math/point3d.hxx>
+#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
#include <simgear/scene/model/location.hxx>
#include <simgear/scene/model/model.hxx>
#include "AIBase.hxx"
#include "AIManager.hxx"
-FGAIBase::FGAIBase() {
- _type_str = "model";
+
+const double FGAIBase::e = 2.71828183;
+const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
+
+
+FGAIBase::FGAIBase(object_type ot)
+ : fp( NULL ),
+ props( NULL ),
+ manager( NULL ),
+ _refID( _newAIModelID() ),
+ _otype(ot)
+{
+ tgt_heading = hdg = tgt_altitude = tgt_speed = 0.0;
tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
bearing = elevation = range = rdot = 0.0;
x_shift = y_shift = rotation = 0.0;
invisible = true;
no_roll = true;
life = 900;
- model_path = "";
- model = 0;
- _otype = otNull;
- index = 0;
- fp = (FGAIFlightPlan*)0;
delete_me = false;
- manager = NULL;
}
FGAIBase::~FGAIBase() {
- globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
- // unbind();
- SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
- root->removeChild(_type_str.c_str(), index);
- if (fp) delete fp;
+ // Unregister that one at the scenery manager
+ if (globals->get_scenery()) {
+ globals->get_scenery()->unregister_placement_transform(aip.getTransform());
+ globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
+ }
+ if (props) {
+ SGPropertyNode* parent = props->getParent();
+ if (parent) {
+ fgSetString("/ai/models/model-removed", props->getPath());
+ parent->removeChild(props->getName(), props->getIndex(), false);
+ }
+ }
+ delete fp;
+ fp = 0;
}
-void FGAIBase::update(double dt) {
- ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES);
- ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES);
+
+void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
+{
+ if (!scFileNode)
+ return;
+
+ setPath(scFileNode->getStringValue("model", "Models/Geometry/glider.ac"));
+
+ setHeading(scFileNode->getDoubleValue("heading", 0.0));
+ setSpeed(scFileNode->getDoubleValue("speed", 0.0));
+ setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
+ setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
+ setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
+ setBank(scFileNode->getDoubleValue("roll", 0.0));
}
+void FGAIBase::update(double dt) {
+ if (_otype == otStatic)
+ return;
+ if (_otype == otBallistic)
+ CalculateMach();
+
+ ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
+ ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
+}
void FGAIBase::Transform() {
if (!invisible) {
- aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
+ aip.setPosition(pos);
if (no_roll) {
aip.setOrientation(0.0, pitch, hdg);
} else {
aip.setOrientation(roll, pitch, hdg);
}
- aip.update( globals->get_scenery()->get_center() );
+ aip.update();
}
}
bool FGAIBase::init() {
- SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
-
- index = manager->getNum(_otype) - 1;
- props = root->getNode(_type_str.c_str(), index, true);
-
- if (model_path != "") {
- model = sgLoad3DModel( globals->get_fg_root(),
- model_path.c_str(),
- props,
- globals->get_sim_time_sec() );
+ if (!model_path.empty()) {
+ try {
+ model = load3DModel( globals->get_fg_root(), model_path, props,
+ globals->get_sim_time_sec() );
+ } catch (const sg_exception &e) {
+ model = NULL;
+ }
}
if (model) {
aip.init( model );
aip.setVisible(true);
invisible = false;
globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
+ // Register that one at the scenery manager
+ globals->get_scenery()->register_placement_transform(aip.getTransform());
+ fgSetString("/ai/models/model-added", props->getPath());
} else {
- if (model_path != "") {
- SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model.");
+ if (!model_path.empty()) {
+ SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
}
- }
+ }
setDie(false);
return true;
}
+
+ssgBranch * FGAIBase::load3DModel(const string& fg_root,
+ const string &path,
+ SGPropertyNode *prop_root,
+ double sim_time_sec)
+{
+ // some more code here to check whether a model with this name has already been loaded
+ // if not load it, otherwise, get the memory pointer and do something like
+ // SetModel as in ATC/AIEntity.cxx
+ model = manager->getModel(path);
+ if (!(model)) {
+ model = sgLoad3DModel(fg_root,
+ path,
+ prop_root,
+ sim_time_sec);
+ manager->setModel(path, model);
+ }
+
+ return model;
+}
+
bool FGAIBase::isa( object_type otype ) {
- if ( otype == _otype ) { return true; }
- else { return false; }
+ if ( otype == _otype )
+ return true;
+ else
+ return false;
}
void FGAIBase::bind() {
- props->tie("id", SGRawValuePointer<int>(&id));
+ props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
+ &FGAIBase::getID));
props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
props->tie("velocities/vertical-speed-fps",
SGRawValueMethods<FGAIBase,double>(*this,
props->tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
props->tie("radar/range-nm", SGRawValuePointer<double>(&range));
props->tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
- props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
+ props->tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
props->tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
+ props->tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
props->tie("controls/lighting/nav-lights",
SGRawValueFunctions<bool>(_isNight));
props->setBoolValue("controls/lighting/beacon", true);
props->setBoolValue("controls/lighting/strobe", true);
+ props->setBoolValue("controls/glide-path", true);
+
+ props->setStringValue("controls/flight/lateral-mode", "roll");
+ props->setDoubleValue("controls/flight/target-hdg", hdg);
+ props->setDoubleValue("controls/flight/target-roll", roll);
+
+ props->setStringValue("controls/flight/longitude-mode", "alt");
+ props->setDoubleValue("controls/flight/target-alt", altitude);
+ props->setDoubleValue("controls/flight/target-pitch", pitch);
+
+ props->setDoubleValue("controls/flight/target-spd", speed);
+
}
void FGAIBase::unbind() {
props->untie("radar/x-shift");
props->untie("radar/y-shift");
props->untie("radar/rotation");
+ props->untie("radar/ht-diff-ft");
props->untie("controls/lighting/nav-lights");
}
double user_latitude = manager->get_user_latitude();
double user_longitude = manager->get_user_longitude();
- double lat_range = fabs(pos.lat() - user_latitude) * ft_per_deg_lat;
- double lon_range = fabs(pos.lon() - user_longitude) * ft_per_deg_lon;
+ double lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
+ double lon_range = fabs(pos.getLongitudeDeg() - user_longitude) * ft_per_deg_lon;
double range_ft2 = lat_range*lat_range + lon_range*lon_range;
//
range = range_ft / 6076.11549;
// calculate bearing to target
- if (pos.lat() >= user_latitude) {
+ if (pos.getLatitudeDeg() >= user_latitude) {
bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
- if (pos.lon() >= user_longitude) {
+ if (pos.getLongitudeDeg() >= user_longitude) {
bearing = 90.0 - bearing;
} else {
bearing = 270.0 + bearing;
}
} else {
bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES;
- if (pos.lon() >= user_longitude) {
+ if (pos.getLongitudeDeg() >= user_longitude) {
bearing = 180.0 - bearing;
} else {
bearing = 180.0 + bearing;
if (horiz_offset < -180.0) horiz_offset += 360.0;
// calculate elevation to target
- elevation = atan2( altitude * SG_METER_TO_FEET - user_altitude, range_ft )
- * SG_RADIANS_TO_DEGREES;
+ elevation = atan2( altitude - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
// calculate look up/down to target
- vert_offset = elevation + user_pitch;
+ vert_offset = elevation - user_pitch;
/* this calculation needs to be fixed, but it isn't important anyway
// calculate range rate
x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
rotation = hdg - user_heading;
if (rotation < 0.0) rotation += 360.0;
+ ht_diff = altitude - user_altitude;
}
return range_ft2;
}
+SGVec3d
+FGAIBase::getCartPosAt(const SGVec3d& _off) const
+{
+ // Transform that one to the horizontal local coordinate system.
+
+ SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
+ // and postrotate the orientation of the AIModel wrt the horizontal
+ // local frame
+ hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
+
+ // The offset converted to the usual body fixed coordinate system
+ // rotated to the earth fiexed coordinates axis
+ SGVec3d off = hlTrans.backTransform(_off);
+
+ // Add the position offset of the AIModel to gain the earth centered position
+ SGVec3d cartPos = SGVec3d::fromGeod(pos);
+
+ return cartPos + off;
+}
/*
* getters and Setters
*/
void FGAIBase::_setLongitude( double longitude ) {
- pos.setlon(longitude);
+ pos.setLongitudeDeg(longitude);
}
void FGAIBase::_setLatitude ( double latitude ) {
- pos.setlat(latitude);
+ pos.setLatitudeDeg(latitude);
}
double FGAIBase::_getLongitude() const {
- return pos.lon();
+ return pos.getLongitudeDeg();
}
double FGAIBase::_getLatitude () const {
- return pos.lat();
+ return pos.getLatitudeDeg();
}
double FGAIBase::_getRdot() const {
return rdot;
return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
}
+int FGAIBase::getID() const {
+ return _refID;
+}
+
+void FGAIBase::CalculateMach() {
+ // Calculate rho at altitude, using standard atmosphere
+ // For the temperature T and the pressure p,
+
+ if (altitude < 36152) { // curve fits for the troposphere
+ T = 59 - 0.00356 * altitude;
+ p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
+
+ } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
+ T = -70;
+ p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
+
+ } else { // upper stratosphere
+ T = -205.05 + (0.00164 * altitude);
+ p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
+ }
+
+ rho = p / (1718 * (T + 459.7));
+
+ // calculate the speed of sound at altitude
+ // a = sqrt ( g * R * (T + 459.7))
+ // where:
+ // a = speed of sound [ft/s]
+ // g = specific heat ratio, which is usually equal to 1.4
+ // R = specific gas constant, which equals 1716 ft-lb/slug/°R
+
+ a = sqrt ( 1.4 * 1716 * (T + 459.7));
+
+ // calculate Mach number
+
+ Mach = speed/a;
+
+ // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach;
+}
+
+int FGAIBase::_newAIModelID() {
+ static int id = 0;
+ if (!++id)
+ id++; // id = 0 is not allowed.
+ return id;
+}
+
projects / flightgear.git / blobdiff