#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>
manager( NULL )
{
_type_str = "model";
+ tgt_heading = 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;
FGAIBase::~FGAIBase() {
// Unregister that one at the scenery manager
- globals->get_scenery()->unregister_placement_transform(aip.getTransform());
-
- globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
+ if (globals->get_scenery()) {
+ globals->get_scenery()->unregister_placement_transform(aip.getTransform());
+ 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;
+ delete fp;
fp = NULL;
}
props = root->getNode(_type_str.c_str(), index, true);
if (model_path != "") {
+ try {
model = load3DModel( globals->get_fg_root(),
SGPath(model_path).c_str(),
props,
globals->get_sim_time_sec() );
+ } catch (const sg_exception &e) {
+ model = NULL;
+ }
}
if (model) {
aip.init( model );
globals->get_scenery()->register_placement_transform(aip.getTransform());
} else {
if (model_path != "") {
- SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model.");
+ SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
}
}
return range_ft2;
}
+Point3D
+FGAIBase::getCartPosAt(const Point3D& off) const
+{
+ // The offset converted to the usual body fixed coordinate system.
+ sgdVec3 sgdOff;
+ sgdSetVec3(sgdOff, -off.x(), off.z(), -off.y());
+
+ // Transform that one to the horizontal local coordinate system.
+ sgdMat4 hlTrans;
+ sgdMakeRotMat4(hlTrans, hdg, pitch, roll);
+ sgdXformPnt3(sgdOff, hlTrans);
+
+ // Now transform to the wgs84 earth centeres system.
+ Point3D pos2(pos.lon()* SGD_DEGREES_TO_RADIANS,
+ pos.lat() * SGD_DEGREES_TO_RADIANS,
+ pos.elev());
+ Point3D cartPos3D = sgGeodToCart(pos2);
+ sgdMat4 ecTrans;
+ sgdMakeCoordMat4(ecTrans, cartPos3D.x(), cartPos3D.y(), cartPos3D.z(),
+ pos.lon(), 0, - 90 - pos.lat());
+ sgdXformPnt3(sgdOff, ecTrans);
+
+ return Point3D(sgdOff[0], sgdOff[1], sgdOff[2]);
+}
+
+Point3D
+FGAIBase::getGeocPosAt(const Point3D& off) const
+{
+ return sgCartToGeod(getCartPosAt(off));
+}
/*
* getters and Setters