Vivian Meazza:

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

diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx
index d66de0300d9ef08bec26c5719f66012ea7496798..8ec57b527df2ae9f244404ed6ef49959909c3983 100644 (file)
--- a/src/AIModel/AIBase.cxx
+++ b/src/AIModel/AIBase.cxx
@@ -30,6 +30,7 @@
 #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>
@@ -49,12 +50,13 @@ const double FGAIBase::lbs_to_slugs = 0.031080950172;   //conversion factor
 
 
 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;
@@ -70,13 +72,14 @@ FGAIBase::FGAIBase()
 
 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;
 }
 
@@ -96,7 +99,7 @@ void FGAIBase::Transform() {
       } else {
          aip.setOrientation(roll, pitch, hdg);
       }
-      aip.update( globals->get_scenery()->get_center() );    
+      aip.update();    
     }
 }
 
@@ -109,10 +112,14 @@ bool FGAIBase::init() {
    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 );
@@ -123,7 +130,7 @@ bool FGAIBase::init() {
      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);
      }
    } 
 
@@ -141,7 +148,6 @@ 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 *model;
   model = manager->getModel(path);
   if (!(model))
     {
@@ -150,15 +156,8 @@ ssgBranch * FGAIBase::load3DModel(const string& fg_root,
                            prop_root,
                            sim_time_sec);
       manager->setModel(path, model);
-      model->ref();
     }
-  //else
-  //  {
-  //    model->ref();
-  //    aip.init(model);
-  //    aip.setVisible(false);
-  //    globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
-  // do some setModel stuff.
+  
   return model;
 }
 
@@ -170,7 +169,7 @@ bool FGAIBase::isa( object_type otype ) {
 
 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,
@@ -322,6 +321,36 @@ double FGAIBase::UpdateRadar(FGAIManager* manager)
    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
@@ -360,8 +389,8 @@ bool FGAIBase::_isNight() {
     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() {
@@ -399,3 +428,9 @@ void FGAIBase::CalculateMach() {
  //    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;
+}
+