#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>
FGAIBase::FGAIBase()
- : fp( NULL ),
- model( NULL ),
+ : fp( NULL ),
props( NULL ),
- manager( 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;
}
FGAIBase::~FGAIBase() {
- globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph());
+ // 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);
- if (fp) delete fp;
+ 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);
-
- // 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;
}
void FGAIBase::Transform() {
} else {
aip.setOrientation(roll, pitch, hdg);
}
- aip.update( globals->get_scenery()->get_center() );
+ aip.update();
}
}
props = root->getNode(_type_str.c_str(), index, true);
if (model_path != "") {
- model = sgLoad3DModel( globals->get_fg_root(),
- model_path.c_str(),
+ 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 {
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 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("id", SGRawValueMethods<FGAIBase,int>(*this,
- &FGAIBase::_getID));
+ &FGAIBase::getID));
props->tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
props->tie("velocities/vertical-speed-fps",
SGRawValueMethods<FGAIBase,double>(*this,
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
return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
}
-int FGAIBase::_getID() const {
- return (int)(this);
+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