# include <config.h>
#endif
+#include <algorithm>
#include <string>
#include <vector>
+#include <osg/NodeVisitor>
+
#include <simgear/math/SGMath.hxx>
-#include <simgear/math/point3d.hxx>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/scene/util/SGNodeMasks.hxx>
+
#include <math.h>
#include <Main/util.hxx>
#include <Main/viewer.hxx>
#include "AICarrier.hxx"
-/** Value of earth radius (meters) */
-#define RADIUS_M SG_EQUATORIAL_RADIUS_M
+class FGCarrierVisitor : public osg::NodeVisitor {
+public:
+ FGCarrierVisitor(FGAICarrier* carrier,
+ const std::list<std::string>& wireObjects,
+ const std::list<std::string>& catapultObjects,
+ const std::list<std::string>& solidObjects) :
+ osg::NodeVisitor(osg::NodeVisitor::NODE_VISITOR,
+ osg::NodeVisitor::TRAVERSE_ALL_CHILDREN),
+ mWireObjects(wireObjects),
+ mCatapultObjects(catapultObjects),
+ mSolidObjects(solidObjects),
+ mFoundHot(false),
+ mCarrier(carrier)
+ { }
+ virtual void apply(osg::Node& node)
+ {
+ osg::ref_ptr<osg::Referenced> oldUserData = mUserData;
+ bool oldFoundHot = mFoundHot;
+ mFoundHot = false;
+
+ if (std::find(mWireObjects.begin(), mWireObjects.end(), node.getName())
+ != mWireObjects.end()) {
+ mFoundHot = true;
+ mUserData = FGAICarrierHardware::newWire(mCarrier);
+ }
+ if (std::find(mCatapultObjects.begin(), mCatapultObjects.end(), node.getName())
+ != mCatapultObjects.end()) {
+ mFoundHot = true;
+ mUserData = FGAICarrierHardware::newCatapult(mCarrier);
+ }
+ if (std::find(mSolidObjects.begin(), mSolidObjects.end(), node.getName())
+ != mSolidObjects.end()) {
+ mFoundHot = true;
+ mUserData = FGAICarrierHardware::newSolid(mCarrier);
+ //SG_LOG(SG_GENERAL, SG_ALERT, "AICarrierVisitor::apply() solidObject" );
+ }
+ node.setUserData(mUserData.get());
+
+ traverse(node);
+ mFoundHot = oldFoundHot || mFoundHot;
+ if (mFoundHot) {
+ node.setNodeMask(node.getNodeMask() | SG_NODEMASK_TERRAIN_BIT);
+ } else
+ node.setNodeMask(node.getNodeMask() & ~SG_NODEMASK_TERRAIN_BIT);
+
+ mUserData = oldUserData;
+ }
+
+private:
+ std::list<std::string> mWireObjects;
+ std::list<std::string> mCatapultObjects;
+ std::list<std::string> mSolidObjects;
+ bool mFoundHot;
+ FGAICarrier* mCarrier;
+ osg::ref_ptr<osg::Referenced> mUserData;
+};
FGAICarrier::FGAICarrier() : FGAIShip(otCarrier) {
}
TACAN_channel_id = id;
}
-void FGAICarrier::getVelocityWrtEarth(sgdVec3& v, sgdVec3& omega, sgdVec3& pivot) {
- sgdCopyVec3(v, vel_wrt_earth.sg() );
- sgdCopyVec3(omega, rot_wrt_earth.sg() );
- sgdCopyVec3(pivot, rot_pivot_wrt_earth.sg() );
+void FGAICarrier::getVelocityWrtEarth(SGVec3d& v, SGVec3d& omega, SGVec3d& pivot) {
+ v = vel_wrt_earth;
+ omega = rot_wrt_earth;
+ pivot = rot_pivot_wrt_earth;
}
void FGAICarrier::update(double dt) {
// but by just apply discrete changes at its velocity variables.
// Update the velocity information stored in those nodes.
// Transform that one to the horizontal local coordinate system.
- SGQuatd ec2hl = SGQuatd::fromLonLatDeg(pos.lon(), pos.lat());
+ SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
// The orientation of the carrier wrt the horizontal local frame
SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// and postrotate the orientation of the AIModel wrt the horizontal
// local frame
SGQuatd ec2body = ec2hl*hl2body;
// The cartesian position of the carrier in the wgs84 world
- SGVec3d cartPos = SGGeod::fromDegFt(pos.lon(), pos.lat(), pos.elev());
+ SGVec3d cartPos = SGVec3d::fromGeod(pos);
// Store for later use by the groundcache
rot_pivot_wrt_earth = cartPos;
// Now here is the finite difference ...
// Transform that one to the horizontal local coordinate system.
- SGQuatd ec2hlNew = SGQuatd::fromLonLatDeg(pos.lon(), pos.lat());
+ SGQuatd ec2hlNew = SGQuatd::fromLonLat(pos);
// compute the new orientation
SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// The rotation difference
// For the flols reuse some computations done above ...
// The position of the eyepoint - at least near that ...
- SGVec3d eyePos(globals->get_current_view()->get_absolute_view_pos());
+ SGVec3d eyePos(globals->get_current_view()->get_view_pos());
// Add the position offset of the AIModel to gain the earth
// centered position
SGVec3d eyeWrtCarrier = eyePos - cartPos;
source = 0;
} //end update
-bool FGAICarrier::init() {
- if (!FGAIShip::init())
+bool FGAICarrier::init(bool search_in_AI_path) {
+ if (!FGAIShip::init(search_in_AI_path))
return false;
- // process the 3d model here
- // mark some objects solid, mark the wires ...
-
- // The model should be used for altitude computations.
- // To avoid that every detail in a carrier 3D model will end into
- // the aircraft local cache, only set the HOT traversal bit on
- // selected objects.
- ssgEntity *sel = aip.getSceneGraph();
- // Clear the HOT traversal flag
- mark_nohot(sel);
- // Selectively set that flag again for wires/cats/solid objects.
- // Attach a pointer to this carrier class to those objects.
- mark_wires(sel, wire_objects);
- mark_cat(sel, catapult_objects);
- mark_solid(sel, solid_objects);
-
_longitude_node = fgGetNode("/position/longitude-deg", true);
_latitude_node = fgGetNode("/position/latitude-deg", true);
_altitude_node = fgGetNode("/position/altitude-ft", true);
turn_to_launch_hdg = false;
returning = false;
- initialpos = pos;
+ mOpBoxPos = pos;
base_course = hdg;
base_speed = speed;
return true;
}
+void FGAICarrier::initModel(osg::Node *node)
+{
+ // SG_LOG(SG_GENERAL, SG_BULK, "AICarrier::initModel()" );
+ FGAIShip::initModel(node);
+ // process the 3d model here
+ // mark some objects solid, mark the wires ...
+
+ // The model should be used for altitude computations.
+ // To avoid that every detail in a carrier 3D model will end into
+ // the aircraft local cache, only set the HOT traversal bit on
+ // selected objects.
+
+ // Clear the HOT traversal flag
+ // Selectively set that flag again for wires/cats/solid objects.
+ // Attach a pointer to this carrier class to those objects.
+ // SG_LOG(SG_GENERAL, SG_BULK, "AICarrier::initModel() visit" );
+ FGCarrierVisitor carrierVisitor(this, wire_objects, catapult_objects, solid_objects);
+ model->accept(carrierVisitor);
+// model->setNodeMask(node->getNodeMask() & SG_NODEMASK_TERRAIN_BIT | model->getNodeMask());
+}
+
void FGAICarrier::bind() {
FGAIShip::bind();
props->tie("controls/base-speed-kts",
SGRawValuePointer<double>(&base_speed));
props->tie("controls/start-pos-lat-deg",
- SGRawValuePointer<double>(&initialpos[1]));
+ SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLatitudeDeg));
props->tie("controls/start-pos-long-deg",
- SGRawValuePointer<double>(&initialpos[0]));
+ SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLongitudeDeg));
props->tie("velocities/speed-kts",
SGRawValuePointer<double>(&speed));
props->tie("environment/surface-wind-speed-true-kts",
if ((*it).name == id || id.empty()) {
ParkPosition ppos = *it;
SGVec3d cartPos = getCartPosAt(ppos.offset);
- geodPos = cartPos;
+ geodPos = SGGeod::fromCart(cartPos);
hdng = hdg + ppos.heading_deg;
double shdng = sin(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
double chdng = cos(ppos.heading_deg * SGD_DEGREES_TO_RADIANS);
return false;
}
-
-void FGAICarrier::mark_nohot(ssgEntity* e) {
- if (e->isAKindOf(ssgTypeBranch())) {
- ssgBranch* br = (ssgBranch*)e;
- ssgEntity* kid;
- for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
- mark_nohot(kid);
-
- br->clrTraversalMaskBits(SSGTRAV_HOT);
-
- } else if (e->isAKindOf(ssgTypeLeaf())) {
-
- e->clrTraversalMaskBits(SSGTRAV_HOT);
- }
-}
-
-
-bool FGAICarrier::mark_wires(ssgEntity* e, const list<string>& wire_objects, bool mark) {
- bool found = false;
- if (e->isAKindOf(ssgTypeBranch())) {
- ssgBranch* br = (ssgBranch*)e;
- ssgEntity* kid;
-
- list<string>::const_iterator it;
- for (it = wire_objects.begin(); it != wire_objects.end(); ++it)
- mark = mark || (e->getName() && (*it) == e->getName());
-
- for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
- found = mark_wires(kid, wire_objects, mark) || found;
-
- if (found)
- br->setTraversalMaskBits(SSGTRAV_HOT);
-
- } else if (e->isAKindOf(ssgTypeLeaf())) {
- list<string>::const_iterator it;
- for (it = wire_objects.begin(); it != wire_objects.end(); ++it) {
- if (mark || (e->getName() && (*it) == e->getName())) {
- e->setTraversalMaskBits(SSGTRAV_HOT);
- ssgBase* ud = e->getUserData();
- if (ud) {
- FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
- if (ch) {
- SG_LOG(SG_GENERAL, SG_WARN,
- "AICarrier: Carrier hardware gets marked twice!\n"
- " You have probably a whole branch marked as"
- " a wire which also includes other carrier hardware.");
- } else {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found user data attached to a leaf node which "
- "should be marked as a wire!\n ****Skipping!****");
- }
- } else {
- e->setUserData( FGAICarrierHardware::newWire( this ) );
- ssgLeaf *l = (ssgLeaf*)e;
- if ( l->getNumLines() != 1 ) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found wires not modeled with exactly one line!");
- }
- found = true;
- }
- }
- }
- }
- return found;
-}
-
-
-bool FGAICarrier::mark_solid(ssgEntity* e, const list<string>& solid_objects, bool mark) {
- bool found = false;
- if (e->isAKindOf(ssgTypeBranch())) {
- ssgBranch* br = (ssgBranch*)e;
- ssgEntity* kid;
-
- list<string>::const_iterator it;
- for (it = solid_objects.begin(); it != solid_objects.end(); ++it)
- mark = mark || (e->getName() && (*it) == e->getName());
-
- for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
- found = mark_solid(kid, solid_objects, mark) || found;
-
- if (found)
- br->setTraversalMaskBits(SSGTRAV_HOT);
-
- } else if (e->isAKindOf(ssgTypeLeaf())) {
- list<string>::const_iterator it;
- for (it = solid_objects.begin(); it != solid_objects.end(); ++it) {
- if (mark || (e->getName() && (*it) == e->getName())) {
- e->setTraversalMaskBits(SSGTRAV_HOT);
- ssgBase* ud = e->getUserData();
-
- if (ud) {
- FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
- if (ch) {
- SG_LOG(SG_GENERAL, SG_WARN,
- "AICarrier: Carrier hardware gets marked twice!\n"
- " You have probably a whole branch marked solid"
- " which also includes other carrier hardware.");
- } else {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found user data attached to a leaf node which "
- "should be marked solid!\n ****Skipping!****");
- }
- } else {
- e->setUserData( FGAICarrierHardware::newSolid( this ) );
- found = true;
- }
- }
- }
- }
- return found;
-}
-
-
-bool FGAICarrier::mark_cat(ssgEntity* e, const list<string>& cat_objects, bool mark) {
- bool found = false;
- if (e->isAKindOf(ssgTypeBranch())) {
- ssgBranch* br = (ssgBranch*)e;
- ssgEntity* kid;
-
- list<string>::const_iterator it;
- for (it = cat_objects.begin(); it != cat_objects.end(); ++it)
- mark = mark || (e->getName() && (*it) == e->getName());
-
- for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
- found = mark_cat(kid, cat_objects, mark) || found;
-
- if (found)
- br->setTraversalMaskBits(SSGTRAV_HOT);
-
- } else if (e->isAKindOf(ssgTypeLeaf())) {
- list<string>::const_iterator it;
- for (it = cat_objects.begin(); it != cat_objects.end(); ++it) {
- if (mark || (e->getName() && (*it) == e->getName())) {
- e->setTraversalMaskBits(SSGTRAV_HOT);
- ssgBase* ud = e->getUserData();
- if (ud) {
- FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
- if (ch) {
- SG_LOG(SG_GENERAL, SG_WARN,
- "AICarrier: Carrier hardware gets marked twice!\n"
- "You have probably a whole branch marked as"
- "a catapult which also includes other carrier hardware.");
- } else {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found user data attached to a leaf node which "
- "should be marked as a catapult!\n ****Skipping!****");
- }
- } else {
- e->setUserData( FGAICarrierHardware::newCatapult( this ) );
- ssgLeaf *l = (ssgLeaf*)e;
- if ( l->getNumLines() != 1 ) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found a cat not modeled with exactly "
- "one line!");
- } else {
- // Now some special code to make sure the cat points in the right
- // direction. The 0 index must be the backward end, the 1 index
- // the forward end.
- // Forward is positive x-direction in our 3D model, also the model
- // as such is flattened when it is loaded, so we do not need to
- // care for transforms ...
- short v[2];
- l->getLine(0, v, v+1 );
- sgVec3 ends[2];
- for (int k=0; k<2; ++k)
- sgCopyVec3( ends[k], l->getVertex( v[k] ) );
-
- // When the 1 end is behind the 0 end, swap the coordinates.
- if (ends[0][0] < ends[1][0]) {
- sgCopyVec3( l->getVertex( v[0] ), ends[1] );
- sgCopyVec3( l->getVertex( v[1] ), ends[0] );
- }
- found = true;
- }
- }
- }
- }
- }
- return found;
-}
-
// find relative wind
void FGAICarrier::UpdateWind( double dt) {
void FGAICarrier::ReturnToBox(){
double course, distance, az2;
- //get the carrier position
- carrierpos = pos;
-
- //cout << "lat: " << carrierpos[1] << " lon: " << carrierpos[0] << endl;
-
//calculate the bearing and range of the initial position from the carrier
- geo_inverse_wgs_84(carrierpos[2],
- carrierpos[1],
- carrierpos[0],
- initialpos[1],
- initialpos[0],
- &course, &az2, &distance);
+ geo_inverse_wgs_84(pos, mOpBoxPos, &course, &az2, &distance);
distance *= SG_METER_TO_NM;
return false;
}
- if (initialpos[1] >= 0) { //northern hemisphere
- if (pos[1] >= initialpos[1] + max_lat)
+ if (mOpBoxPos.getLatitudeDeg() >= 0) { //northern hemisphere
+ if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + max_lat)
return true;
- if (pos[1] <= initialpos[1] - min_lat)
+ if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - min_lat)
return true;
} else { //southern hemisphere
- if (pos[1] <= initialpos[1] - max_lat)
+ if (pos.getLatitudeDeg() <= mOpBoxPos.getLatitudeDeg() - max_lat)
return true;
- if (pos[1] >= initialpos[1] + min_lat)
+ if (pos.getLatitudeDeg() >= mOpBoxPos.getLatitudeDeg() + min_lat)
return true;
}
- if (initialpos[0] >=0) { //eastern hemisphere
- if (pos[0] >= initialpos[0] + max_long)
+ if (mOpBoxPos.getLongitudeDeg() >=0) { //eastern hemisphere
+ if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + max_long)
return true;
- if (pos[0] <= initialpos[0] - min_long)
+ if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - min_long)
return true;
} else { //western hemisphere
- if (pos[0] <= initialpos[0] - max_long)
+ if (pos.getLongitudeDeg() <= mOpBoxPos.getLongitudeDeg() - max_long)
return true;
- if (pos[0] >= initialpos[0] + min_long)
+ if (pos.getLongitudeDeg() >= mOpBoxPos.getLongitudeDeg() + min_long)
return true;
}
} // end OutsideBox
-// return the distance to the horizon, given the altitude and the radius of the earth
-float FGAICarrier::Horizon(float h) {
- return RADIUS_M * acos(RADIUS_M / (RADIUS_M + h));
-}
-
-
bool FGAICarrier::InToWind() {
if ( fabs(rel_wind) < 5 )
return true;
projects / flightgear.git / blobdiff