#include <plib/ssg.h>
#include <simgear/math/point3d.hxx>
+#include <simgear/math/polar3d.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
#include <simgear/scene/model/location.hxx>
const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
-FGAIBase::FGAIBase(object_type ot)
- : fp( NULL ),
+FGAIBase::FGAIBase(object_type ot) :
props( NULL ),
manager( NULL ),
+ fp( NULL ),
_refID( _newAIModelID() ),
_otype(ot)
{
- tgt_heading = hdg = tgt_altitude = tgt_speed = 0.0;
+ tgt_heading = hdg = tgt_altitude_ft = 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;
}
if (props) {
SGPropertyNode* parent = props->getParent();
- if (parent)
+ if (parent) {
+ fgSetString("/ai/models/model-removed", props->getPath());
parent->removeChild(props->getName(), props->getIndex(), false);
+ }
}
delete fp;
fp = 0;
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);
+ ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
+ ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
}
void FGAIBase::Transform() {
if (!invisible) {
- aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET);
+ aip.setPosition(pos);
if (no_roll) {
aip.setOrientation(0.0, pitch, hdg);
} else {
globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph());
// Register that one at the scenery manager
globals->get_scenery()->register_placement_transform(aip.getTransform());
+ fgSetString("/ai/models/model-added", props->getPath());
} else {
if (!model_path.empty()) {
SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path);
props->setBoolValue("controls/lighting/beacon", true);
props->setBoolValue("controls/lighting/strobe", true);
props->setBoolValue("controls/glide-path", true);
+
+ props->setStringValue("controls/flight/lateral-mode", "roll");
+ props->setDoubleValue("controls/flight/target-hdg", hdg);
+ props->setDoubleValue("controls/flight/target-roll", roll);
+
+ props->setStringValue("controls/flight/longitude-mode", "alt");
+ props->setDoubleValue("controls/flight/target-alt", altitude_ft);
+ props->setDoubleValue("controls/flight/target-pitch", pitch);
+
+ props->setDoubleValue("controls/flight/target-spd", speed);
+
}
void FGAIBase::unbind() {
double FGAIBase::UpdateRadar(FGAIManager* manager)
{
double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range");
+ bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false);
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 lat_range = fabs(pos.getLatitudeDeg() - user_latitude) * ft_per_deg_lat;
+ double lon_range = fabs(pos.getLongitudeDeg() - 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 )
+ if ( in_range || force_on )
{
props->setBoolValue("radar/in-range", true);
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();
+ //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) {
+ if (pos.getLatitudeDeg() >= user_latitude) {
bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES;
- if (pos.lon() >= user_longitude) {
+ if (pos.getLongitudeDeg() >= 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) {
+ if (pos.getLongitudeDeg() >= user_longitude) {
bearing = 180.0 - bearing;
} else {
bearing = 180.0 + bearing;
}
}
+ // This is an alternate way to compute bearing and distance which
+ // agrees with the original scheme within about 0.1 degrees.
+ //
+ // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS,
+ // user_latitude * SGD_DEGREES_TO_RADIANS, 0 );
+ // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 );
+ // double gc_bearing, gc_range;
+ // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range );
+ // gc_range *= SG_METER_TO_NM;
+ // gc_bearing *= SGD_RADIANS_TO_DEGREES;
+ // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n",
+ // bearing, range, gc_bearing, gc_range);
+
// 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 - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
+ elevation = atan2( altitude_ft - user_altitude, range_ft ) * SG_RADIANS_TO_DEGREES;
// calculate look up/down to target
vert_offset = elevation - user_pitch;
*/
// now correct look left/right for yaw
- horiz_offset += user_yaw;
+ // horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
// 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;
- ht_diff = altitude - user_altitude;
+ ht_diff = altitude_ft - user_altitude;
}
FGAIBase::getCartPosAt(const SGVec3d& _off) const
{
// Transform that one to the horizontal local coordinate system.
- SGQuatd hlTrans = SGQuatd::fromLonLatDeg(pos.lon(), pos.lat());
+
+ SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
// and postrotate the orientation of the AIModel wrt the horizontal
// local frame
hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
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());
+ SGVec3d cartPos = SGVec3d::fromGeod(pos);
return cartPos + off;
}
* getters and Setters
*/
void FGAIBase::_setLongitude( double longitude ) {
- pos.setlon(longitude);
+ pos.setLongitudeDeg(longitude);
}
void FGAIBase::_setLatitude ( double latitude ) {
- pos.setlat(latitude);
+ pos.setLatitudeDeg(latitude);
}
double FGAIBase::_getLongitude() const {
- return pos.lon();
+ return pos.getLongitudeDeg();
}
double FGAIBase::_getLatitude () const {
- return pos.lat();
+ return pos.getLatitudeDeg();
}
double FGAIBase::_getRdot() const {
return rdot;
}
double FGAIBase::_getAltitude() const {
- return altitude;
+ return altitude_ft;
}
void FGAIBase::_setAltitude( double _alt ) {
setAltitude( _alt );
// Calculate rho at altitude, using standard atmosphere
// For the temperature T and the pressure p,
+ double altitude = altitude_ft;
+
if (altitude < 36152) { // curve fits for the troposphere
T = 59 - 0.00356 * altitude;
p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
projects / flightgear.git / blobdiff