Mathias Fröhlich:

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

diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx
index 51a959e40d6762d912894070288c46eefed9f18f..b1dca66e790f2fdda3d4037eef64b07eb7657c40 100644 (file)
--- a/src/AIModel/AIBase.cxx
+++ b/src/AIModel/AIBase.cxx
@@ -15,7 +15,7 @@
 //
 // 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
@@ -49,14 +49,14 @@ const double FGAIBase::e = 2.71828183;
 const double FGAIBase::lbs_to_slugs = 0.031080950172;   //conversion factor
 
 
-FGAIBase::FGAIBase()
+FGAIBase::FGAIBase(object_type ot)
   : fp( 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;
@@ -64,9 +64,6 @@ FGAIBase::FGAIBase()
     invisible = true;
     no_roll = true;
     life = 900;
-    model_path = "";
-    _otype = otNull;
-    index = 0;
     delete_me = false;
 }
 
@@ -76,11 +73,29 @@ FGAIBase::~FGAIBase() {
         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) {
@@ -106,20 +121,13 @@ void FGAIBase::Transform() {
 
 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 );
@@ -129,7 +137,7 @@ bool FGAIBase::init() {
      // 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);
      }
    } 
@@ -321,35 +329,23 @@ double FGAIBase::UpdateRadar(FGAIManager* manager)
    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;
 }
 
 /*