//
// 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()
- : 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 = 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;
+ 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) {
} 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 != "") {
- 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);
}
}
// 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))
{
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;
}
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
+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;
}
/*
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() {
// 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