-// FGAIBase - abstract base class for AI objects
+// FGAIBase.hxx - abstract base class for AI objects
// Written by David Culp, started Nov 2003, based on
// David Luff's FGAIEntity class.
// - davidculp2@comcast.net
//
// 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.
#ifndef _FG_AIBASE_HXX
#define _FG_AIBASE_HXX
#include <string>
+#include <list>
#include <simgear/constants.h>
-#include <simgear/math/point3d.hxx>
+#include <simgear/math/SGMath.hxx>
#include <simgear/scene/model/placement.hxx>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/structure/SGSharedPtr.hxx>
+#include <simgear/structure/SGReferenced.hxx>
#include <Main/fg_props.hxx>
-SG_USING_STD(string);
+
+using std::string;
+using std::list;
class FGAIManager;
+class FGAIFlightPlan;
-class FGAIBase {
+class FGAIBase : public osg::Referenced {
public:
+ enum object_type { otNull = 0, otAircraft, otShip, otCarrier, otBallistic,
+ otRocket, otStorm, otThermal, otStatic, otWingman,
+ otMultiplayer,
+ MAX_OBJECTS }; // Needs to be last!!!
- FGAIBase();
+ FGAIBase(object_type ot);
virtual ~FGAIBase();
- virtual void update(double dt);
- inline Point3D GetPos() { return(pos); }
- enum object_type { otNull, otAircraft, otShip, otBallistic,
- otRocket, otStorm, otThermal };
+ virtual void readFromScenario(SGPropertyNode* scFileNode);
- virtual bool init();
+ virtual bool init(bool search_in_AI_path=false);
+ virtual void initModel(osg::Node *node);
+ virtual void update(double dt);
virtual void bind();
virtual void unbind();
+ virtual void reinit() {}
+ void setManager(FGAIManager* mgr, SGPropertyNode* p);
void setPath( const char* model );
+ void setSMPath( const string& p );
+ void setCallSign(const string& );
void setSpeed( double speed_KTAS );
void setAltitude( double altitude_ft );
void setHeading( double heading );
void setLatitude( double latitude );
void setLongitude( double longitude );
void setBank( double bank );
-
- void setID( int ID );
- int getID();
+ void setPitch( double newpitch );
+ void setRadius ( double radius );
+ void setXoffset( double x_offset );
+ void setYoffset( double y_offset );
+ void setZoffset( double z_offset );
+ void setPitchoffset( double x_offset );
+ void setRolloffset( double y_offset );
+ void setYawoffset( double z_offset );
+ void setServiceable ( bool serviceable );
void setDie( bool die );
+ void setCollisionData( bool i, double lat, double lon, double elev );
+ void setImpactData( bool d );
+ void setImpactLat( double lat );
+ void setImpactLon( double lon );
+ void setImpactElev( double e );
+
+ int getID() const;
+ int _getSubID() const;
+
bool getDie();
+ SGVec3d getCartPosAt(const SGVec3d& off) const;
+ SGVec3d getCartPos() const;
+
+ double _getCartPosX() const;
+ double _getCartPosY() const;
+ double _getCartPosZ() const;
+
+ double _x_offset;
+ double _y_offset;
+ double _z_offset;
+
+ double _pitch_offset;
+ double _roll_offset;
+ double _yaw_offset;
+
+ string _path;
+ string _callsign;
+ string _submodel;
+ string _name;
+
+ SGGeod userpos;
+
+
protected:
- SGPropertyNode *props;
+ SGPropertyNode_ptr props;
+ SGPropertyNode_ptr trigger_node;
+ SGPropertyNode_ptr model_removed; // where to report model removal
FGAIManager* manager;
// these describe the model's actual state
- Point3D pos; // WGS84 lat & lon in degrees, elev above sea-level in meters
+ SGGeod pos; // WGS84 lat & lon in degrees, elev above sea-level in meters
double hdg; // True heading in degrees
double roll; // degrees, left is negative
double pitch; // degrees, nose-down is negative
double speed; // knots true airspeed
- double altitude; // meters above sea level
- double vs; // vertical speed, feet per minute
+ double altitude_ft; // feet above sea level
+ double vs; // vertical speed, feet per minute
+ double speed_north_deg_sec;
+ double speed_east_deg_sec;
+ double turn_radius_ft; // turn radius ft at 15 kts rudder angle 15 degrees
+
+ double ft_per_deg_lon;
+ double ft_per_deg_lat;
// these describe the model's desired state
- double tgt_heading; // target heading, degrees true
- double tgt_altitude; // target altitude, *feet* above sea level
- double tgt_speed; // target speed, KTAS
+ double tgt_heading; // target heading, degrees true
+ double tgt_altitude_ft; // target altitude, *feet* above sea level
+ double tgt_speed; // target speed, KTAS
double tgt_roll;
double tgt_pitch;
double tgt_yaw;
double tgt_vs;
// these describe radar information for the user
+ bool in_range; // true if in range of the radar, otherwise false
double bearing; // true bearing from user to this model
double elevation; // elevation in degrees from user to this model
double range; // range from user to this model, nm
double x_shift; // value used by radar display instrument
double y_shift; // value used by radar display instrument
double rotation; // value used by radar display instrument
-
+ double ht_diff; // value used by radar display instrument
string model_path; //Path to the 3D model
- ssgBranch * model; //The 3D model object
+ osg::ref_ptr<osg::Node> model; //The 3D model object
SGModelPlacement aip;
+
bool delete_me;
- int id;
bool invisible;
bool no_roll;
+ bool serviceable;
+ int _subID;
- void Transform();
+ double life;
- static FGAIBase *_self;
- string _type_str;
- object_type _otype;
- int index;
+ FGAIFlightPlan *fp;
-public:
+ bool _impact_reported;
+ bool _collision_reported;
- object_type getType();
- bool isa( object_type otype );
+ double _impact_lat;
+ double _impact_lon;
+ double _impact_elev;
+ double _impact_hdg;
+ double _impact_pitch;
+ double _impact_roll;
+ double _impact_speed;
+
+ void Transform();
+ void CalculateMach();
+ double UpdateRadar(FGAIManager* manager);
- static double _getVS_fps();
- static void _setVS_fps( double _vs );
+ static int _newAIModelID();
- static double _getAltitude();
- static void _setAltitude( double _alt );
+private:
+ int _refID;
+ object_type _otype;
+ bool _initialized;
- static void _setLongitude( double longitude );
- static void _setLatitude ( double latitude );
+public:
+ object_type getType();
- static double _getLongitude();
- static double _getLatitude ();
+ virtual const char* getTypeString(void) const { return "null"; }
- static double _getBearing();
- static double _getElevation();
- static double _getRange();
- static double _getRdot();
- static double _getH_offset();
- static double _getV_offset();
- static double _getX_shift();
- static double _getY_shift();
- static double _getRotation();
+ bool isa( object_type otype );
+ void _setVS_fps( double _vs );
+ void _setAltitude( double _alt );
+ void _setLongitude( double longitude );
+ void _setLatitude ( double latitude );
+ void _setSubID( int s );
+ void _setUserPos();
+
+ double _getVS_fps() const;
+ double _getAltitude() const;
+ double _getLongitude() const;
+ double _getLatitude() const;
+ double _getElevationFt() const;
+ double _getRdot() const;
+ double _getH_offset() const;
+ double _getV_offset() const;
+ double _getX_shift() const;
+ double _getY_shift() const;
+ double _getRotation() const;
+ double _getSpeed() const;
+ double _getRoll() const;
+ double _getPitch() const;
+ double _getHeading() const;
+ double _get_speed_east_fps() const;
+ double _get_speed_north_fps() const;
+ double _get_SubPath() const;
+ double _getImpactLat() const;
+ double _getImpactLon() const;
+ double _getImpactElevFt() const;
+ double _getImpactHdg() const;
+ double _getImpactPitch() const;
+ double _getImpactRoll() const;
+ double _getImpactSpeed() const;
+ double _getXOffset() const;
+ double _getYOffset() const;
+ double _getZOffset() const;
+ //unsigned int _getCount() const;
+
+ bool _getServiceable() const;
+ bool _getFirstTime() const;
+ bool _getImpact();
+ bool _getImpactData();
+ bool _getCollisionData();
+
+ SGPropertyNode* _getProps() const;
+
+ const char* _getPath() const;
+ const char* _getSMPath() const;
+ const char* _getCallsign() const;
+ const char* _getTriggerNode() const;
+ const char* _getName() const;
+ const char* _getSubmodel() const;
+
+
+ // These are used in the Mach number calculations
+
+ double rho;
+ double T; // temperature, degs farenheit
+ double p; // pressure lbs/sq ft
+ double a; // speed of sound at altitude (ft/s)
+ double Mach; // Mach number
+
+ static const double e;
+ static const double lbs_to_slugs;
+
+ inline double _getRange() { return range; };
+ inline double _getBearing() { return bearing; };
+
+ virtual osg::Node* load3DModel(const string &path,
+ SGPropertyNode *prop_root);
+
static bool _isNight();
};
+inline void FGAIBase::setManager(FGAIManager* mgr, SGPropertyNode* p) {
+ manager = mgr;
+ props = p;
+}
-inline void FGAIBase::setPath( const char* model ) {
- model_path.append(model);
+inline void FGAIBase::setPath(const char* model ) {
+ model_path.append(model);
+}
+
+inline void FGAIBase::setSMPath(const string& p) {
+ _path = p;
+}
+
+inline void FGAIBase::setServiceable(bool s) {
+ serviceable = s;
}
inline void FGAIBase::setSpeed( double speed_KTAS ) {
- speed = tgt_speed = speed_KTAS;
+ speed = tgt_speed = speed_KTAS;
+}
+
+inline void FGAIBase::setRadius( double radius ) {
+ turn_radius_ft = radius;
}
inline void FGAIBase::setHeading( double heading ) {
- hdg = tgt_heading = heading;
+ hdg = tgt_heading = heading;
}
-inline void FGAIBase::setAltitude( double altitude_ft ) {
- altitude = tgt_altitude = altitude_ft;
- pos.setelev(altitude * SG_FEET_TO_METER);
+inline void FGAIBase::setAltitude( double alt_ft ) {
+ altitude_ft = tgt_altitude_ft = alt_ft;
+ pos.setElevationFt(altitude_ft);
}
inline void FGAIBase::setBank( double bank ) {
- roll = tgt_roll = bank;
+ roll = tgt_roll = bank;
+ no_roll = false;
+}
+
+inline void FGAIBase::setPitch( double newpitch ) {
+ pitch = tgt_pitch = newpitch;
}
inline void FGAIBase::setLongitude( double longitude ) {
- pos.setlon( longitude );
+ pos.setLongitudeDeg( longitude );
}
+
inline void FGAIBase::setLatitude ( double latitude ) {
- pos.setlat( latitude );
+ pos.setLatitudeDeg( latitude );
}
-inline void FGAIBase::setDie( bool die ) { delete_me = die; }
-inline bool FGAIBase::getDie() { return delete_me; }
-
-inline void FGAIBase::_setLongitude( double longitude ) {
- if (_self) _self->pos.setlon(longitude);
+inline void FGAIBase::setCallSign(const string& s) {
+ _callsign = s;
}
-inline void FGAIBase::_setLatitude ( double latitude ) {
- if (_self) _self->pos.setlat(latitude);
+inline void FGAIBase::setXoffset(double x) {
+ _x_offset = x;
}
-inline double FGAIBase::_getLongitude() {
- return (!_self) ? 0.0 :_self->pos.lon();
-}
-inline double FGAIBase::_getLatitude () {
- return (!_self) ? 0.0 :_self->pos.lat();
-}
-inline double FGAIBase::_getBearing() {
- return (!_self) ? 0.0 :_self->bearing;
-}
-inline double FGAIBase::_getElevation() {
- return (!_self) ? 0.0 :_self->elevation;
-}
-inline double FGAIBase::_getRange() {
- return (!_self) ? 0.0 :_self->range;
-}
-inline double FGAIBase::_getRdot() {
- return (!_self) ? 0.0 :_self->rdot;
-}
-inline double FGAIBase::_getH_offset() {
- return (!_self) ? 0.0 :_self->horiz_offset;
-}
-inline double FGAIBase::_getV_offset() {
- return (!_self) ? 0.0 :_self->vert_offset;
-}
-inline double FGAIBase::_getX_shift() {
- return (!_self) ? 0.0 :_self->x_shift;
-}
-inline double FGAIBase::_getY_shift() {
- return (!_self) ? 0.0 :_self->y_shift;
-}
-inline double FGAIBase::_getRotation() {
- return (!_self) ? 0.0 :_self->rotation;
+inline void FGAIBase::setYoffset(double y) {
+ _y_offset = y;
}
-inline double FGAIBase::_getVS_fps() {
- return (!_self) ? 0.0 :_self->vs*60.0;
-}
-inline void FGAIBase::_setVS_fps( double _vs ) {
- if (_self) _self->vs = _vs/60.0;
+inline void FGAIBase::setZoffset(double z) {
+ _z_offset = z;
}
-inline double FGAIBase::_getAltitude() {
- return (!_self) ? 0.0 :_self->altitude;
-}
-inline void FGAIBase::_setAltitude( double _alt ) {
- if (_self) _self->setAltitude( _alt );
+inline void FGAIBase::setPitchoffset(double p) {
+ _pitch_offset = p;
}
-inline bool FGAIBase::_isNight() {
- return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
+inline void FGAIBase::setRolloffset(double r) {
+ _roll_offset = r;
+}
+
+inline void FGAIBase::setYawoffset(double y) {
+ _yaw_offset = y;
}
-inline void FGAIBase::setID( int ID ) { id = ID; }
-inline int FGAIBase::getID() { return id; }
+inline void FGAIBase::setDie( bool die ) { delete_me = die; }
-inline FGAIBase::object_type FGAIBase::getType() { return _otype; }
+inline bool FGAIBase::getDie() { return delete_me; }
-#endif // _FG_AIBASE_HXX
+inline FGAIBase::object_type FGAIBase::getType() { return _otype; }
+#endif // _FG_AIBASE_HXX
projects / flightgear.git / blobdiff