#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::_self = NULL;
-FGAIBase::FGAIBase() {
- _self = this;
+const double FGAIBase::e = 2.71828183;
+const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
+
+
+FGAIBase::FGAIBase()
+ : fp( NULL ),
+ props( NULL ),
+ manager( NULL ),
+ _refID( _newAIModelID() )
+{
_type_str = "model";
+ 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;
+ in_range = false;
+ invisible = true;
+ no_roll = true;
+ life = 900;
+ model_path = "";
+ _otype = otNull;
+ index = 0;
+ delete_me = false;
}
FGAIBase::~FGAIBase() {
- _self = NULL;
+ // 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());
+ }
+ // unbind();
+ SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
+ root->removeChild(_type_str.c_str(), index);
+ delete fp;
+ fp = NULL;
}
void FGAIBase::update(double dt) {
-}
+ if (_otype == otStatic) return;
+ if (_otype == otBallistic) CalculateMach();
+ ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()*SGD_DEGREES_TO_RADIANS);
+ ft_per_deg_lon = 365228.16 * cos(pos.lat()*SGD_DEGREES_TO_RADIANS);
+}
void FGAIBase::Transform() {
- aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
- aip.setOrientation(roll, pitch, hdg);
- aip.update( globals->get_scenery()->get_center() );
+ if (!invisible) {
+ aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
+ if (no_roll) {
+ aip.setOrientation(0.0, pitch, hdg);
+ } else {
+ aip.setOrientation(roll, pitch, hdg);
+ }
+ aip.update();
+ }
}
bool FGAIBase::init() {
SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
- vector<SGPropertyNode_ptr> p_vec = root->getChildren(_type_str);
- unsigned num = p_vec.size();
- p_vec.clear();
-
- props = root->getNode(_type_str, num, true);
- ssgBranch *model = sgLoad3DModel( globals->get_fg_root(),
- model_path.c_str(),
- props,
- globals->get_sim_time_sec() );
+
+ index = manager->getNum(_otype) - 1;
+ 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 );
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());
} else {
- SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load aircraft model.");
+ if (model_path != "") {
+ 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; }
+}
+
+
void FGAIBase::bind() {
- props->tie("velocities/airspeed-kt", SGRawValuePointer<double>(&speed));
+ props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
+ &FGAIBase::getID));
+ props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
props->tie("velocities/vertical-speed-fps",
- SGRawValueFunctions<double>(FGAIBase::_getVS_fps,
- FGAIBase::_setVS_fps));
+ SGRawValueMethods<FGAIBase,double>(*this,
+ &FGAIBase::_getVS_fps,
+ &FGAIBase::_setVS_fps));
props->tie("position/altitude-ft",
- SGRawValueFunctions<double>(FGAIBase::_getAltitude,
- FGAIBase::_setAltitude));
+ SGRawValueMethods<FGAIBase,double>(*this,
+ &FGAIBase::_getAltitude,
+ &FGAIBase::_setAltitude));
props->tie("position/latitude-deg",
- SGRawValueFunctions<double>(FGAIBase::_getLatitude,
- FGAIBase::_setLatitude));
+ SGRawValueMethods<FGAIBase,double>(*this,
+ &FGAIBase::_getLatitude,
+ &FGAIBase::_setLatitude));
props->tie("position/longitude-deg",
- SGRawValueFunctions<double>(FGAIBase::_getLongitude,
- FGAIBase::_setLongitude));
+ SGRawValueMethods<FGAIBase,double>(*this,
+ &FGAIBase::_getLongitude,
+ &FGAIBase::_setLongitude));
props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
- props->tie("orientation/heading-deg", SGRawValuePointer<double>(&hdg));
+ props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
+
+ props->tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
+ props->tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
+ 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/x-shift", SGRawValuePointer<double>(&x_shift));
+ props->tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
+ props->tie("radar/rotation", SGRawValuePointer<double>(&rotation));
props->tie("controls/lighting/nav-lights",
- SGRawValueFunctions<bool>(FGAIBase::_isNight));
+ SGRawValueFunctions<bool>(_isNight));
props->setBoolValue("controls/lighting/beacon", true);
props->setBoolValue("controls/lighting/strobe", true);
+ props->setBoolValue("controls/glide-path", true);
}
void FGAIBase::unbind() {
- props->untie("velocities/airspeed-kt");
+ props->untie("id");
+ props->untie("velocities/true-airspeed-kt");
props->untie("velocities/vertical-speed-fps");
props->untie("position/altitude-ft");
props->untie("orientation/pitch-deg");
props->untie("orientation/roll-deg");
- props->untie("orientation/heading-deg");
+ props->untie("orientation/true-heading-deg");
+
+ props->untie("radar/in-range");
+ props->untie("radar/bearing-deg");
+ props->untie("radar/elevation-deg");
+ props->untie("radar/range-nm");
+ props->untie("radar/h-offset");
+ props->untie("radar/v-offset");
+ props->untie("radar/x-shift");
+ props->untie("radar/y-shift");
+ props->untie("radar/rotation");
+
+ props->untie("controls/lighting/nav-lights");
+}
+
+double FGAIBase::UpdateRadar(FGAIManager* manager)
+{
+ double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
+ radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10%
+ radar_range_ft2 *= radar_range_ft2;
+
+ 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 range_ft2 = lat_range*lat_range + lon_range*lon_range;
+
+ //
+ // Test whether the target is within radar range.
+ //
+ in_range = (range_ft2 && (range_ft2 <= radar_range_ft2));
+ if ( in_range )
+ {
+ props->setBoolValue("radar/in-range", true);
+
+ // copy values from the AIManager
+ 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();
+
+ // calculate range to target in feet and nautical miles
+ double range_ft = sqrt( range_ft2 );
+ range = range_ft / 6076.11549;
+
+ // calculate bearing to target
+ if (pos.lat() >= user_latitude) {
+ bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
+ if (pos.lon() >= 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) {
+ bearing = 180.0 - bearing;
+ } else {
+ bearing = 180.0 + bearing;
+ }
+ }
+
+ // calculate look left/right to target, without yaw correction
+ horiz_offset = bearing - user_heading;
+ if (horiz_offset > 180.0) horiz_offset -= 360.0;
+ 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;
+
+ // calculate look up/down to target
+ vert_offset = elevation + user_pitch;
+
+ /* this calculation needs to be fixed, but it isn't important anyway
+ // calculate range rate
+ double recip_bearing = bearing + 180.0;
+ if (recip_bearing > 360.0) recip_bearing -= 360.0;
+ double my_horiz_offset = recip_bearing - hdg;
+ if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
+ if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
+ rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
+ +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
+*/
+
+ // now correct look left/right for yaw
+ horiz_offset += user_yaw;
+
+ // calculate values for radar display
+ y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
+ x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
+ rotation = hdg - user_heading;
+ if (rotation < 0.0) rotation += 360.0;
+
+ }
+
+ 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
+ */
+void FGAIBase::_setLongitude( double longitude ) {
+ pos.setlon(longitude);
+}
+void FGAIBase::_setLatitude ( double latitude ) {
+ pos.setlat(latitude);
+}
+
+double FGAIBase::_getLongitude() const {
+ return pos.lon();
+}
+double FGAIBase::_getLatitude () const {
+ return pos.lat();
+}
+double FGAIBase::_getRdot() const {
+ return rdot;
+}
+double FGAIBase::_getVS_fps() const {
+ return vs*60.0;
+}
+void FGAIBase::_setVS_fps( double _vs ) {
+ vs = _vs/60.0;
+}
+
+double FGAIBase::_getAltitude() const {
+ return altitude;
+}
+void FGAIBase::_setAltitude( double _alt ) {
+ setAltitude( _alt );
+}
+
+bool FGAIBase::_isNight() {
+ 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;
+}
- props->untie("controls/controls/lighting/nav-lights");
+int FGAIBase::_newAIModelID() {
+ static int id = 0;
+ if (!++id) id++; // id = 0 is not allowed.
+ return id;
}
projects / flightgear.git / blobdiff