Ground network distance tracking code. AIAircraft taxiing at airports

[flightgear.git] / src / AIModel / AIBase.cxx

diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx
index 0a1401e50e89b1daadc725a06a69de6517ae15c8..1fe6a7e0ebbb581082cea26c03ecb61ec03dbba9 100644 (file)
--- a/src/AIModel/AIBase.cxx
+++ b/src/AIModel/AIBase.cxx
@@ -30,10 +30,12 @@
 #include <plib/ssg.h>
 
 #include <simgear/math/point3d.hxx>
+#include <simgear/math/polar3d.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 <simgear/scene/model/personality.hxx>
 #include <simgear/debug/logstream.hxx>
 #include <simgear/props/props.hxx>
 
@@ -49,10 +51,10 @@ const double FGAIBase::e = 2.71828183;
 const double FGAIBase::lbs_to_slugs = 0.031080950172;   //conversion factor
 
 
-FGAIBase::FGAIBase(object_type ot)
-  : fp( NULL ),
+FGAIBase::FGAIBase(object_type ot) :
     props( NULL ),
     manager( NULL ),
+    fp( NULL ),
     _refID( _newAIModelID() ),
     _otype(ot)
 {
@@ -161,6 +163,8 @@ ssgBranch * FGAIBase::load3DModel(const string& fg_root,
   // 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
+  ssgBranch *personality_branch = new SGPersonalityBranch;
+
   model = manager->getModel(path);
   if (!(model)) {
       model = sgLoad3DModel(fg_root,
@@ -169,8 +173,9 @@ ssgBranch * FGAIBase::load3DModel(const string& fg_root,
                             sim_time_sec);
       manager->setModel(path, model);
   }
+  personality_branch->addKid( model );
 
-  return model;
+  return personality_branch;
 }
 
 bool FGAIBase::isa( object_type otype ) {
@@ -288,8 +293,8 @@ double FGAIBase::UpdateRadar(FGAIManager* manager)
      double user_altitude  = manager->get_user_altitude();
      double user_heading   = manager->get_user_heading();
      double user_pitch     = manager->get_user_pitch();
-     double user_yaw       = manager->get_user_yaw();
-     double user_speed     = manager->get_user_speed();
+     //double user_yaw       = manager->get_user_yaw();
+     //double user_speed     = manager->get_user_speed();
 
      // calculate range to target in feet and nautical miles
      double range_ft = sqrt( range_ft2 );
@@ -312,6 +317,19 @@ double FGAIBase::UpdateRadar(FGAIManager* manager)
         }
      }
 
+     // This is an alternate way to compute bearing and distance which
+     // agrees with the original scheme within about 0.1 degrees.
+     //
+     // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
+     //                user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
+     // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
+     // double gc_bearing, gc_range;
+     // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
+     // gc_range *= SG_METER_TO_NM;
+     // gc_bearing *= SGD_RADIANS_TO_DEGREES;
+     // printf("orig b = %.3f %.2f  gc b= %.3f, %.2f\n",
+     //        bearing, range, gc_bearing, gc_range);
+
      // calculate look left/right to target, without yaw correction
      horiz_offset = bearing - user_heading;
      if (horiz_offset > 180.0) horiz_offset -= 360.0;
@@ -335,7 +353,7 @@ double FGAIBase::UpdateRadar(FGAIManager* manager)
 */
 
      // now correct look left/right for yaw
-     horiz_offset += user_yaw;
+     // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
 
      // calculate values for radar display
      y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);