//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#ifdef HAVE_CONFIG_H
const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
-FGAIBase::FGAIBase()
+FGAIBase::FGAIBase(object_type ot)
: fp( NULL ),
- model( NULL ),
props( NULL ),
manager( NULL ),
- _refID( _newAIModelID() )
+ _refID( _newAIModelID() ),
+ _otype(ot)
{
- _type_str = "model";
- tgt_heading = tgt_altitude = tgt_speed = 0.0;
+ 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;
invisible = true;
no_roll = true;
life = 900;
- model_path = "";
- _otype = otNull;
- index = 0;
delete_me = false;
}
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 (props) {
+ SGPropertyNode* parent = props->getParent();
+ if (parent)
+ parent->removeChild(props->getName(), props->getIndex(), false);
+ }
delete fp;
- fp = NULL;
- ssgDeRefDelete(model);
- model = 0;
+ fp = 0;
+}
+
+
+void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
+{
+ if (!scFileNode)
+ return;
+
+ setPath(scFileNode->getStringValue("model", "Models/Geometry/glider.ac"));
+
+ setHeading(scFileNode->getDoubleValue("heading", 0.0));
+ setSpeed(scFileNode->getDoubleValue("speed", 0.0));
+ setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
+ setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
+ setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
+ setBank(scFileNode->getDoubleValue("roll", 0.0));
}
void FGAIBase::update(double dt) {
- if (_otype == otStatic) return;
- if (_otype == otBallistic) CalculateMach();
+ 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);
} else {
aip.setOrientation(roll, pitch, hdg);
}
- aip.update();
+ aip.update();
}
}
bool FGAIBase::init() {
- SGPropertyNode *root = globals->get_props()->getNode("ai/models", true);
-
- 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) {
+ if (!model_path.empty()) {
+ try {
+ model = load3DModel( globals->get_fg_root(), model_path, props,
+ globals->get_sim_time_sec() );
+ } catch (const sg_exception &e) {
model = NULL;
- }
+ }
}
if (model) {
aip.init( model );
// Register that one at the scenery manager
globals->get_scenery()->register_placement_transform(aip.getTransform());
} else {
- if (model_path != "") {
+ if (!model_path.empty()) {
SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
}
- }
+ }
setDie(false);
}
-ssgBranch * FGAIBase::load3DModel(const string& fg_root,
- const string &path,
- SGPropertyNode *prop_root,
- double sim_time_sec)
+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
+ // 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))
- {
+ if (!(model)) {
model = sgLoad3DModel(fg_root,
- path,
- prop_root,
- sim_time_sec);
+ path,
+ 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;
}
bool FGAIBase::isa( object_type otype ) {
- if ( otype == _otype ) { return true; }
- else { return false; }
+ if ( otype == _otype )
+ return true;
+ else
+ return false;
}
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/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("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
props->tie("controls/lighting/nav-lights",
SGRawValueFunctions<bool>(_isNight));
props->untie("radar/x-shift");
props->untie("radar/y-shift");
props->untie("radar/rotation");
+ props->untie("radar/ht-diff-ft");
props->untie("controls/lighting/nav-lights");
}
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;
+ elevation = atan2( altitude - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
// calculate look up/down to target
- vert_offset = elevation + user_pitch;
+ vert_offset = elevation - user_pitch;
/* this calculation needs to be fixed, but it isn't important anyway
// calculate range rate
x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
rotation = hdg - user_heading;
if (rotation < 0.0) rotation += 360.0;
+ ht_diff = altitude - user_altitude;
}
return range_ft2;
}
-Point3D
-FGAIBase::getCartPosAt(const Point3D& off) const
+SGVec3d
+FGAIBase::getCartPosAt(const SGVec3d& _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]);
-}
+ SGQuatd hlTrans = SGQuatd::fromLonLatDeg(pos.lon(), pos.lat());
+ // and postrotate the orientation of the AIModel wrt the horizontal
+ // local frame
+ hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
-Point3D
-FGAIBase::getGeocPosAt(const Point3D& off) const
-{
- return sgCartToGeod(getCartPosAt(off));
+ // The offset converted to the usual body fixed coordinate system
+ // rotated to the earth fiexed coordinates axis
+ SGVec3d off = hlTrans.backTransform(_off);
+
+ // Add the position offset of the AIModel to gain the earth centered position
+ SGVec3d cartPos = SGGeod::fromDegFt(pos.lon(), pos.lat(), pos.elev());
+
+ return cartPos + off;
}
/*
}
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;
+ // 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.
+ static int id = 0;
+ if (!++id)
+ id++; // id = 0 is not allowed.
return id;
}
projects / flightgear.git / blobdiff