#include "AICarrier.hxx"
+#include "AIScenario.hxx"
+
+/** Value of earth radius (meters) */
+#define RADIUS_M SG_EQUATORIAL_RADIUS_M
+
+
FGAICarrier::FGAICarrier(FGAIManager* mgr) : FGAIShip(mgr) {
+ _type_str = "carrier";
+ _otype = otCarrier;
+
+
}
FGAICarrier::~FGAICarrier() {
}
+void FGAICarrier::setWind_from_east(double fps) {
+ wind_from_east = fps;
+}
+
+void FGAICarrier::setWind_from_north(double fps) {
+ wind_from_north = fps;
+}
+
+void FGAICarrier::setMaxLat(double deg) {
+ max_lat = fabs(deg);
+}
+
+void FGAICarrier::setMinLat(double deg) {
+ min_lat = fabs(deg);
+}
+
+void FGAICarrier::setMaxLong(double deg) {
+ max_long = fabs(deg);
+}
+
+void FGAICarrier::setMinLong(double deg) {
+ min_long = fabs(deg);
+}
+
void FGAICarrier::setSolidObjects(const list<string>& so) {
solid_objects = so;
}
catapult_objects = co;
}
-void FGAICarrier::getVelocityWrtEarth(sgVec3 v) {
- sgCopyVec3(v, vel_wrt_earth );
+void FGAICarrier::setParkingPositions(const list<ParkPosition>& p) {
+ ppositions = p;
+}
+
+void FGAICarrier::setSign(const string& s) {
+ sign = s;
+}
+
+void FGAICarrier::setTACANChannelID(const string& id) {
+ TACAN_channel_id = id;
+}
+
+void FGAICarrier::setFlolsOffset(const Point3D& off) {
+ flols_off = off;
+}
+
+void FGAICarrier::getVelocityWrtEarth(sgdVec3 v, sgdVec3 omega, sgdVec3 pivot) {
+ sgdCopyVec3(v, vel_wrt_earth );
+ sgdCopyVec3(omega, rot_wrt_earth );
+ sgdCopyVec3(pivot, rot_pivot_wrt_earth );
}
void FGAICarrier::update(double dt) {
- UpdateFlols(dt);
- FGAIShip::update(dt);
+
+ // For computation of rotation speeds we just use finite differences her.
+ // That is perfectly valid since this thing is not driven by accelerations
+ // but by just apply discrete changes at its velocity variables.
+ double old_hdg = hdg;
+ double old_roll = roll;
+ double old_pitch = pitch;
// Update the velocity information stored in those nodes.
double v_north = 0.51444444*speed*cos(hdg * SGD_DEGREES_TO_RADIANS);
double cos_lat = cos(pos.lat() * SGD_DEGREES_TO_RADIANS);
double sin_lon = sin(pos.lon() * SGD_DEGREES_TO_RADIANS);
double cos_lon = cos(pos.lon() * SGD_DEGREES_TO_RADIANS);
- sgSetVec3( vel_wrt_earth,
+ double sin_roll = sin(roll * SGD_DEGREES_TO_RADIANS);
+ double cos_roll = cos(roll * SGD_DEGREES_TO_RADIANS);
+ double sin_pitch = sin(pitch * SGD_DEGREES_TO_RADIANS);
+ double cos_pitch = cos(pitch * SGD_DEGREES_TO_RADIANS);
+ double sin_hdg = sin(hdg * SGD_DEGREES_TO_RADIANS);
+ double cos_hdg = cos(hdg * SGD_DEGREES_TO_RADIANS);
+
+ // Transform this back the the horizontal local frame.
+ sgdMat3 trans;
+
+ // set up the transform matrix
+ trans[0][0] = cos_pitch*cos_hdg;
+ trans[0][1] = sin_roll*sin_pitch*cos_hdg - cos_roll*sin_hdg;
+ trans[0][2] = cos_roll*sin_pitch*cos_hdg + sin_roll*sin_hdg;
+
+ trans[1][0] = cos_pitch*sin_hdg;
+ trans[1][1] = sin_roll*sin_pitch*sin_hdg + cos_roll*cos_hdg;
+ trans[1][2] = cos_roll*sin_pitch*sin_hdg - sin_roll*cos_hdg;
+
+ trans[2][0] = -sin_pitch;
+ trans[2][1] = sin_roll*cos_pitch;
+ trans[2][2] = cos_roll*cos_pitch;
+
+ sgdSetVec3( vel_wrt_earth,
- cos_lon*sin_lat*v_north - sin_lon*v_east,
- sin_lon*sin_lat*v_north + cos_lon*v_east,
cos_lat*v_north );
+ sgGeodToCart(pos.lat() * SGD_DEGREES_TO_RADIANS,
+ pos.lon() * SGD_DEGREES_TO_RADIANS,
+ pos.elev(), rot_pivot_wrt_earth);
-}
+ // Now update the position and heading. This will compute new hdg and
+ // roll values required for the rotation speed computation.
+ FGAIShip::update(dt);
+
+
+ //automatic turn into wind with a target wind of 25 kts otd
+ if(turn_to_launch_hdg){
+ TurnToLaunch();
+ } else if(OutsideBox() || returning) {// check that the carrier is inside the operating box
+ ReturnToBox();
+ } else { //if(!returning
+ TurnToBase();
+ } //end if
+
+ // Only change these values if we are able to compute them safely
+ if (dt < DBL_MIN)
+ sgdSetVec3( rot_wrt_earth, 0.0, 0.0, 0.0);
+ else {
+ // Compute the change of the euler angles.
+ double hdg_dot = SGD_DEGREES_TO_RADIANS * (hdg-old_hdg)/dt;
+ // Allways assume that the movement was done by the shorter way.
+ if (hdg_dot < - SGD_DEGREES_TO_RADIANS * 180)
+ hdg_dot += SGD_DEGREES_TO_RADIANS * 360;
+ if (hdg_dot > SGD_DEGREES_TO_RADIANS * 180)
+ hdg_dot -= SGD_DEGREES_TO_RADIANS * 360;
+ double pitch_dot = SGD_DEGREES_TO_RADIANS * (pitch-old_pitch)/dt;
+ // Allways assume that the movement was done by the shorter way.
+ if (pitch_dot < - SGD_DEGREES_TO_RADIANS * 180)
+ pitch_dot += SGD_DEGREES_TO_RADIANS * 360;
+ if (pitch_dot > SGD_DEGREES_TO_RADIANS * 180)
+ pitch_dot -= SGD_DEGREES_TO_RADIANS * 360;
+ double roll_dot = SGD_DEGREES_TO_RADIANS * (roll-old_roll)/dt;
+ // Allways assume that the movement was done by the shorter way.
+ if (roll_dot < - SGD_DEGREES_TO_RADIANS * 180)
+ roll_dot += SGD_DEGREES_TO_RADIANS * 360;
+ if (roll_dot > SGD_DEGREES_TO_RADIANS * 180)
+ roll_dot -= SGD_DEGREES_TO_RADIANS * 360;
+ /*cout << "euler derivatives = "
+ << roll_dot << " " << pitch_dot << " " << hdg_dot << endl;*/
+
+ // Now Compute the rotation vector in the carriers coordinate frame
+ // originating from the euler angle changes.
+ sgdVec3 body;
+ body[0] = roll_dot - hdg_dot*sin_pitch;
+ body[1] = pitch_dot*cos_roll + hdg_dot*sin_roll*cos_pitch;
+ body[2] = -pitch_dot*sin_roll + hdg_dot*cos_roll*cos_pitch;
+
+ // Transform that back to the horizontal local frame.
+ sgdVec3 hl;
+ hl[0] = body[0]*trans[0][0] + body[1]*trans[0][1] + body[2]*trans[0][2];
+ hl[1] = body[0]*trans[1][0] + body[1]*trans[1][1] + body[2]*trans[1][2];
+ hl[2] = body[0]*trans[2][0] + body[1]*trans[2][1] + body[2]*trans[2][2];
+
+ // Now we need to project out rotation components ending in speeds in y
+ // direction in the hoirizontal local frame.
+ hl[1] = 0;
+
+ // Transform that to the earth centered frame.
+ sgdSetVec3(rot_wrt_earth,
+ - cos_lon*sin_lat*hl[0] - sin_lon*hl[1] - cos_lat*cos_lon*hl[2],
+ - sin_lon*sin_lat*hl[0] + cos_lon*hl[1] - cos_lat*sin_lon*hl[2],
+ cos_lat*hl[0] - sin_lat*hl[2]);
+ }
+
+ UpdateWind(dt);
+ UpdateTACAN(dt);
+ UpdateFlols(trans);
+} //end update
bool FGAICarrier::init() {
if (!FGAIShip::init())
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);
+ _dme_freq_node = fgGetNode("/instrumentation/dme/frequencies/selected-mhz", true);
+ _surface_wind_from_deg_node =
+ fgGetNode("/environment/config/boundary/entry[0]/wind-from-heading-deg", true);
+ _surface_wind_speed_node =
+ fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt", true);
+
+
+ turn_to_launch_hdg = false;
+ returning = false;
+
+ initialpos = pos;
+ base_course = hdg;
+ base_speed = speed;
+
return true;
}
+
void FGAICarrier::bind() {
- FGAIBase::bind();
+ FGAIShip::bind();
+ props->untie("velocities/true-airspeed-kt");
+
props->tie("controls/flols/source-lights",
SGRawValuePointer<int>(&source));
props->tie("controls/flols/distance-m",
- SGRawValuePointer<double>(&dist));
+ SGRawValuePointer<double>(&dist));
+ props->tie("controls/flols/angle-degs",
+ SGRawValuePointer<double>(&angle));
+ props->tie("controls/turn-to-launch-hdg",
+ SGRawValuePointer<bool>(&turn_to_launch_hdg));
+ props->tie("controls/in-to-wind",
+ SGRawValuePointer<bool>(&turn_to_launch_hdg));
+ props->tie("controls/base-course-deg",
+ SGRawValuePointer<double>(&base_course));
+ props->tie("controls/base-speed-kts",
+ SGRawValuePointer<double>(&base_speed));
+ props->tie("controls/start-pos-lat-deg",
+ SGRawValuePointer<double>(&initialpos[1]));
+ props->tie("controls/start-pos-long-deg",
+ SGRawValuePointer<double>(&initialpos[0]));
+ props->tie("velocities/speed-kts",
+ SGRawValuePointer<double>(&speed));
+ props->tie("environment/surface-wind-speed-true-kts",
+ SGRawValuePointer<double>(&wind_speed_kts));
+ props->tie("environment/surface-wind-from-true-degs",
+ SGRawValuePointer<double>(&wind_from_deg));
+ props->tie("environment/rel-wind-from-degs",
+ SGRawValuePointer<double>(&rel_wind_from_deg));
+ props->tie("environment/rel-wind-from-carrier-hdg-degs",
+ SGRawValuePointer<double>(&rel_wind));
+ props->tie("environment/rel-wind-speed-kts",
+ SGRawValuePointer<double>(&rel_wind_speed_kts));
+ props->tie("controls/flols/wave-off-lights",
+ SGRawValuePointer<bool>(&wave_off_lights));
+ props->tie("instrumentation/TACAN/bearing-true-deg",
+ SGRawValuePointer<double>(&bearing));
+ props->tie("instrumentation/TACAN/range-nm",
+ SGRawValuePointer<double>(&range));
+
props->setBoolValue("controls/flols/cut-lights", false);
props->setBoolValue("controls/flols/wave-off-lights", false);
- props->setBoolValue("controls/flols/cond-datum-lights", true);
- }
+ props->setBoolValue("controls/flols/cond-datum-lights", true);
+ props->setBoolValue("controls/crew", false);
+
+ props->setStringValue("instrumentation/TACAN/channel-ID", TACAN_channel_id.c_str());
+
+ props->setStringValue("sign", sign.c_str());
+}
void FGAICarrier::unbind() {
- FGAIBase::unbind();
+ FGAIShip::unbind();
+
+ props->untie("velocities/true-airspeed-kt");
+
props->untie("controls/flols/source-lights");
+ props->untie("controls/flols/distance-m");
+ props->untie("controls/flols/angle-degs");
+ props->untie("controls/turn-to-launch-hdg");
+ props->untie("velocities/speed-kts");
+ props->untie("environment/wind-speed-true-kts");
+ props->untie("environment/wind-from-true-degs");
+ props->untie("environment/rel-wind-from-degs");
+ props->untie("environment/rel-wind-speed-kts");
+ props->untie("controls/flols/wave-off-lights");
+ props->untie("instrumentation/TACAN/bearing-true-deg");
+ props->untie("instrumentation/TACAN/range-nm");
+ props->untie("instrumentation/TACAN/channel-ID");
}
-
+
+bool FGAICarrier::getParkPosition(const string& id, Point3D& geodPos,
+ double& hdng, sgdVec3 uvw)
+{
+
+ // FIXME: does not yet cover rotation speeds.
+ list<ParkPosition>::iterator it = ppositions.begin();
+ while (it != ppositions.end()) {
+ // Take either the specified one or the first one ...
+ if ((*it).name == id || id.empty()) {
+ ParkPosition ppos = *it;
+ geodPos = getGeocPosAt(ppos.offset);
+ 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);
+ double speed_fps = speed*1.6878099;
+ sgdSetVec3(uvw, chdng*speed_fps, shdng*speed_fps, 0);
+ return true;
+ }
+ ++it;
+ }
+
+ return false;
+}
+
void FGAICarrier::mark_nohot(ssgEntity* e) {
if (e->isAKindOf(ssgTypeBranch())) {
ssgBranch* br = (ssgBranch*)e;
}
}
-bool FGAICarrier::mark_wires(ssgEntity* e, const list<string>& wire_objects) {
+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) || found;
+ 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 (e->getName() && (*it) == e->getName()) {
+ if (mark || (e->getName() && (*it) == e->getName())) {
e->setTraversalMaskBits(SSGTRAV_HOT);
- e->setUserData( FGAICarrierHardware::newWire( this ) );
- ssgLeaf *l = (ssgLeaf*)e;
- if ( l->getNumLines() != 1 ) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found wires not modelled with exactly one line!");
+ 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 propably 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 modelled with exactly one line!");
+ }
+ found = true;
}
-
- found = true;
}
}
}
return found;
}
-bool FGAICarrier::mark_solid(ssgEntity* e, const list<string>& solid_objects) {
+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) || found;
+ 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 (e->getName() && (*it) == e->getName()) {
+ if (mark || (e->getName() && (*it) == e->getName())) {
e->setTraversalMaskBits(SSGTRAV_HOT);
- e->setUserData( FGAICarrierHardware::newSolid( this ) );
- found = true;
+ 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 propably 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 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) || found;
+ 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 (e->getName() && (*it) == e->getName()) {
+ if (mark || (e->getName() && (*it) == e->getName())) {
e->setTraversalMaskBits(SSGTRAV_HOT);
- e->setUserData( FGAICarrierHardware::newCatapult( this ) );
- ssgLeaf *l = (ssgLeaf*)e;
- if ( l->getNumLines() != 1 ) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "AICarrier: Found a cat not modelled with exactly one line!");
+ 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 modelled 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;
+ }
}
- // 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;
}
-void FGAICarrier::UpdateFlols( double dt) {
+void FGAICarrier::UpdateFlols(sgdMat3 trans) {
+
+ float in[3];
+ float out[3];
+
+ double flolsXYZ[3], eyeXYZ[3];
+ double lat, lon, alt;
+ Point3D eyepos;
+ Point3D flolspos;
+
/* cout << "x_offset " << flols_x_offset
<< " y_offset " << flols_y_offset
<< " z_offset " << flols_z_offset << endl;
<< "flols_y_offset " << flols_y_offset << endl
<< "flols_z_offset " << flols_z_offset << endl;*/
- in[0] = flols_x_offset;
- in[1] = flols_y_offset;
- in[2] = flols_z_offset;
-
-// pre-process the trig functions
-
- cosRx = cos(roll * SG_DEGREES_TO_RADIANS);
- sinRx = sin(roll * SG_DEGREES_TO_RADIANS);
- cosRy = cos(pitch * SG_DEGREES_TO_RADIANS);
- sinRy = sin(pitch * SG_DEGREES_TO_RADIANS);
- cosRz = cos(hdg * SG_DEGREES_TO_RADIANS);
- sinRz = sin(hdg * SG_DEGREES_TO_RADIANS);
-
-// set up the transform matrix
-
- trans[0][0] = cosRy * cosRz;
- trans[0][1] = -1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
- trans[0][2] = sinRx * sinRz + cosRx * sinRy * cosRz;
-
- trans[1][0] = cosRy * sinRz;
- trans[1][1] = cosRx * cosRz + sinRx * sinRy * sinRz;
- trans[1][2] = -1 * sinRx * cosRx + cosRx * sinRy * sinRz;
-
- trans[2][0] = -1 * sinRy;
- trans[2][1] = sinRx * cosRy;
- trans[2][2] = cosRx * cosRy;
+ in[0] = flols_off.x();
+ in[1] = flols_off.y();
+ in[2] = flols_off.z();
// multiply the input and transform matrices
//calculate the ditance from eye to flols
dist = sgdDistanceVec3( flolsXYZ, eyeXYZ );
+
+//apply an index error
+
+ dist -= 100;
//cout << "distance " << dist << endl;
// calculate the angle from the flols to eye
// above the horizontal
- double angle;
+ // double angle;
+
if ( dist != 0 ) {
angle = asin( y / dist );
} else {
}
} // end updateflols
+// find relative wind
+
+
+
+
+void FGAICarrier::UpdateWind( double dt) {
+
+ double recip;
+
+ //calculate the reciprocal hdg
+
+ if (hdg >= 180){
+ recip = hdg - 180;
+ }
+ else{
+ recip = hdg + 180;
+ }
+
+ //cout <<" heading: " << hdg << "recip: " << recip << endl;
+
+ //get the surface wind speed and direction
+ wind_from_deg = _surface_wind_from_deg_node->getDoubleValue();
+ wind_speed_kts = _surface_wind_speed_node->getDoubleValue();
+
+ //calculate the surface wind speed north and east in kts
+ double wind_speed_from_north_kts = cos( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
+ double wind_speed_from_east_kts = sin( wind_from_deg / SGD_RADIANS_TO_DEGREES )* wind_speed_kts ;
+
+ //calculate the carrier speed north and east in kts
+ double speed_north_kts = cos( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
+ double speed_east_kts = sin( hdg / SGD_RADIANS_TO_DEGREES )* speed ;
+
+ //calculate the relative wind speed north and east in kts
+ double rel_wind_speed_from_east_kts = wind_speed_from_east_kts + speed_east_kts;
+ double rel_wind_speed_from_north_kts = wind_speed_from_north_kts + speed_north_kts;
+
+ //combine relative speeds north and east to get relative windspeed in kts
+ rel_wind_speed_kts = sqrt((rel_wind_speed_from_east_kts * rel_wind_speed_from_east_kts)
+ + (rel_wind_speed_from_north_kts * rel_wind_speed_from_north_kts));
+
+ //calculate the relative wind direction
+ rel_wind_from_deg = atan(rel_wind_speed_from_east_kts/rel_wind_speed_from_north_kts)
+ * SG_RADIANS_TO_DEGREES;
+
+ // rationalise the output
+ if (rel_wind_speed_from_north_kts <= 0){
+ rel_wind_from_deg = 180 + rel_wind_from_deg;
+ }
+ else{
+ if(rel_wind_speed_from_east_kts <= 0){
+ rel_wind_from_deg = 360 + rel_wind_from_deg;
+ }
+ }
+
+ //calculate rel wind
+ rel_wind = rel_wind_from_deg - hdg ;
+ if (rel_wind > 180) rel_wind -= 360;
+
+ //switch the wave-off lights
+ if (InToWind()){
+ wave_off_lights = false;
+ }else{
+ wave_off_lights = true;
+ }
+
+ cout << "rel wind: " << rel_wind << endl;
+
+}// end update wind
+
+void FGAICarrier::TurnToLaunch(){
+
+ //calculate tgt speed
+ double tgt_speed = 25 - wind_speed_kts;
+ if (tgt_speed < 10) tgt_speed = 10;
+
+ //turn the carrier
+ FGAIShip::TurnTo(wind_from_deg);
+ FGAIShip::AccelTo(tgt_speed);
+
+
+
+} // end turn to launch
+
+void FGAICarrier::TurnToBase(){
+
+ //turn the carrier
+ FGAIShip::TurnTo(base_course);
+ FGAIShip::AccelTo(base_speed);
+
+} // end turn to base
+
+void FGAICarrier::ReturnToBox(){
+ double course, distance;
+
+ //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);
+
+ distance *= SG_METER_TO_NM;
+
+ cout << "return course: " << course << " distance: " << distance << endl;
+ //turn the carrier
+ FGAIShip::TurnTo(course);
+ FGAIShip::AccelTo(base_speed);
+ if (distance >= 1 ){
+ returning = true;
+ }else{
+ returning = false;
+ }
+
+} // end turn to base
+
+
+void FGAICarrier::UpdateTACAN(double dt){ //update the TACAN
+
+ //cout << "TACAN: " << TACAN_channel_id << endl;
+
+ double max_range_nm = 100; //nm
+
+ double dme_freq = _dme_freq_node->getDoubleValue();
+
+ //cout << "dme_freq: " << dme_freq << endl;
+
+ if (TACAN_channel_id == "017X"){
+
+ //get the aircraft position
+ double longitude_deg = _longitude_node->getDoubleValue();
+ double latitude_deg = _latitude_node->getDoubleValue();
+ double altitude_m = _altitude_node->getDoubleValue() * SG_FEET_TO_METER;
+
+ //get the carrier position
+ carrierpos = pos;
+
+ //cout << "lat: " << carrierpos[1] << " lon: " << carrierpos[0] << endl;
+
+ //calculate the bearing and range of the carrier from the aircraft
+ geo_inverse_wgs_84(altitude_m,
+ latitude_deg,
+ longitude_deg,
+ carrierpos[1],
+ carrierpos[0],
+ &bearing, &az2, &range);
+
+ range *= SG_METER_TO_NM;
+
+
+
+ double aircraft_horizon_nm = Horizon(altitude_m) * SG_METER_TO_NM;
+ double carrier_horizon_nm = Horizon(50) * SG_METER_TO_NM;
+ double horizon_nm = aircraft_horizon_nm + carrier_horizon_nm;
+
+ if (range > horizon_nm || range > max_range_nm) {
+ range = 0;
+ bearing = 0 ;
+ }
+ /*cout << "bearing: " << bearing << " range: " << range << " altitude: " << altitude_m
+ << " horizon: " << horizon_nm << endl; */
+ } else {
+ range = 0;
+ bearing = 0 ;
+ } // end if
+
+}// end update TACAN
+
+bool FGAICarrier::OutsideBox(){ //returns true if the carrier is outside operating box
+
+ if ( max_lat == 0 && min_lat == 0 && max_long == 0 && min_long == 0) {
+ SG_LOG(SG_GENERAL, SG_INFO,"AICarrier: No Operating Box defined" );
+ return false;
+ }
+
+ if (initialpos[1] >= 0){//northern hemisphere
+ if (pos[1] >= initialpos[1] + max_lat) {return true;}
+ else if (pos[1] <= initialpos[1] - min_lat) {return true;}
+ }else{ //southern hemisphere
+ if (pos[1] <= initialpos[1] - max_lat) {return true;}
+ else if (pos[1] >= initialpos[1] + min_lat) {return true;}
+ }
+
+ if (initialpos[0] >=0) {//eastern hemisphere
+ if (pos[0] >= initialpos[0] + max_long) {return true;}
+ else if (pos[0] <= initialpos[0] - min_long) {return true;}
+ }else{ //western hemisphere
+ if (pos[0] <= initialpos[0] - max_long) {return true;}
+ else if (pos[0] >= initialpos[0] + min_long) {return true;}
+ }
+
+ SG_LOG(SG_GENERAL, SG_INFO,"AICarrier: Inside Operating Box" );
+
+ return false;
+
+} // 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(){
+
+ // test
+ if ( fabs(rel_wind) < 5 ) return true;
+ return false;
+
+} //end InToWind
int FGAICarrierHardware::unique_id = 1;
projects / flightgear.git / blobdiff