//
// 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
#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 "AIManager.hxx"
-const double FGAIBase::rho = 0.023780; // sea level air density slugs/ft3
+const double FGAIBase::e = 2.71828183;
const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
-FGAIBase::FGAIBase()
- : fp( NULL ),
- model( NULL ),
+FGAIBase::FGAIBase(object_type ot)
+ : fp( NULL ),
props( NULL ),
- manager( NULL )
+ manager( NULL ),
+ _refID( _newAIModelID() ),
+ _otype(ot)
{
- _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;
invisible = true;
no_roll = true;
life = 900;
- model_path = "";
- _otype = otNull;
- index = 0;
delete_me = false;
}
FGAIBase::~FGAIBase() {
- 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;
- fp = 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());
+ }
+ if (props) {
+ SGPropertyNode* parent = props->getParent();
+ if (parent)
+ parent->removeChild(props->getName(), props->getIndex(), false);
+ }
+ delete fp;
+ fp = 0;
}
-void FGAIBase::update(double dt) {
- ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES);
- ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES);
+
+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();
+
+ 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() {
if (!invisible) {
} else {
aip.setOrientation(roll, pitch, hdg);
}
- aip.update( globals->get_scenery()->get_center() );
+ 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 != "") {
- model = sgLoad3DModel( globals->get_fg_root(),
- model_path.c_str(),
- props,
- globals->get_sim_time_sec() );
+ 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 );
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.");
+ if (!model_path.empty()) {
+ 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,
SGRawValueFunctions<bool>(_isNight));
props->setBoolValue("controls/lighting/beacon", true);
props->setBoolValue("controls/lighting/strobe", true);
+ props->setBoolValue("controls/glide-path", true);
}
void FGAIBase::unbind() {
return range_ft2;
}
+SGVec3d
+FGAIBase::getCartPosAt(const SGVec3d& _off) const
+{
+ // Transform that one to the horizontal local coordinate system.
+ 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);
+
+ // 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;
+}
/*
* 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