#include <string>
#include <vector>
-#include <osg/Geode>
-#include <osg/Drawable>
-#include <osg/Transform>
-#include <osg/NodeVisitor>
-#include <osg/TemplatePrimitiveFunctor>
-
#include <simgear/sg_inlines.h>
#include <simgear/math/SGMath.hxx>
#include <simgear/math/sg_geodesy.hxx>
-#include <simgear/scene/util/SGSceneUserData.hxx>
-#include <simgear/scene/bvh/BVHGroup.hxx>
-#include <simgear/scene/bvh/BVHLineGeometry.hxx>
#include <math.h>
#include <Main/util.hxx>
#include "AICarrier.hxx"
-/// Hmm: move that kind of configuration into the model file???
-class LineCollector : public osg::NodeVisitor {
- struct LinePrimitiveFunctor {
- LinePrimitiveFunctor() : _lineCollector(0)
- { }
- void operator() (const osg::Vec3&, bool)
- { }
- void operator() (const osg::Vec3& v1, const osg::Vec3& v2, bool)
- { if (_lineCollector) _lineCollector->addLine(v1, v2); }
- void operator() (const osg::Vec3&, const osg::Vec3&, const osg::Vec3&,
- bool)
- { }
- void operator() (const osg::Vec3&, const osg::Vec3&, const osg::Vec3&,
- const osg::Vec3&, bool)
- { }
- LineCollector* _lineCollector;
- };
-
-public:
- LineCollector() :
- osg::NodeVisitor(osg::NodeVisitor::NODE_VISITOR,
- osg::NodeVisitor::TRAVERSE_ALL_CHILDREN)
- { }
- virtual void apply(osg::Geode& geode)
- {
- osg::TemplatePrimitiveFunctor<LinePrimitiveFunctor> pf;
- pf._lineCollector = this;
- for (unsigned i = 0; i < geode.getNumDrawables(); ++i) {
- geode.getDrawable(i)->accept(pf);
- }
- }
- virtual void apply(osg::Node& node)
- {
- traverse(node);
- }
- virtual void apply(osg::Transform& transform)
- {
- osg::Matrix matrix = _matrix;
- if (transform.computeLocalToWorldMatrix(_matrix, this))
- traverse(transform);
- _matrix = matrix;
- }
-
- const std::vector<SGLineSegmentf>& getLineSegments() const
- { return _lineSegments; }
-
- void addLine(const osg::Vec3& v1, const osg::Vec3& v2)
- {
- // Trick to get the ends in the right order.
- // Use the x axis in the original coordinate system. Choose the
- // most negative x-axis as the one pointing forward
- SGVec3f tv1(_matrix.preMult(v1));
- SGVec3f tv2(_matrix.preMult(v2));
- if (tv1[0] > tv2[0])
- _lineSegments.push_back(SGLineSegmentf(tv1, tv2));
- else
- _lineSegments.push_back(SGLineSegmentf(tv2, tv1));
- }
-
- void addBVHElements(osg::Node& node, simgear::BVHLineGeometry::Type type)
- {
- if (_lineSegments.empty())
- return;
-
- SGSceneUserData* userData;
- userData = SGSceneUserData::getOrCreateSceneUserData(&node);
-
- simgear::BVHNode* bvNode = userData->getBVHNode();
- if (!bvNode && _lineSegments.size() == 1) {
- simgear::BVHLineGeometry* bvLine;
- bvLine = new simgear::BVHLineGeometry(_lineSegments.front(), type);
- userData->setBVHNode(bvLine);
- return;
- }
-
- simgear::BVHGroup* group = new simgear::BVHGroup;
- if (bvNode)
- group->addChild(bvNode);
-
- for (unsigned i = 0; i < _lineSegments.size(); ++i) {
- simgear::BVHLineGeometry* bvLine;
- bvLine = new simgear::BVHLineGeometry(_lineSegments[i], type);
- group->addChild(bvLine);
- }
- userData->setBVHNode(group);
- }
-
-private:
- osg::Matrix _matrix;
- std::vector<SGLineSegmentf> _lineSegments;
-};
-
-class FGCarrierVisitor : public osg::NodeVisitor {
-public:
- FGCarrierVisitor(FGAICarrier* carrier,
- const std::list<std::string>& wireObjects,
- const std::list<std::string>& catapultObjects) :
- osg::NodeVisitor(osg::NodeVisitor::NODE_VISITOR,
- osg::NodeVisitor::TRAVERSE_ALL_CHILDREN),
- mWireObjects(wireObjects),
- mCatapultObjects(catapultObjects)
- { }
- virtual void apply(osg::Node& node)
- {
- if (std::find(mWireObjects.begin(), mWireObjects.end(), node.getName())
- != mWireObjects.end()) {
- LineCollector lineCollector;
- node.accept(lineCollector);
- simgear::BVHLineGeometry::Type type;
- type = simgear::BVHLineGeometry::CarrierWire;
- lineCollector.addBVHElements(node, type);
- }
- if (std::find(mCatapultObjects.begin(), mCatapultObjects.end(),
- node.getName()) != mCatapultObjects.end()) {
- LineCollector lineCollector;
- node.accept(lineCollector);
- simgear::BVHLineGeometry::Type type;
- type = simgear::BVHLineGeometry::CarrierCatapult;
- lineCollector.addBVHElements(node, type);
- }
-
- traverse(node);
- }
-
-private:
- std::list<std::string> mWireObjects;
- std::list<std::string> mCatapultObjects;
-};
-
FGAICarrier::FGAICarrier() : FGAIShip(otCarrier) {
}
setMaxLong(scFileNode->getDoubleValue("max-long", 0));
setMinLong(scFileNode->getDoubleValue("min-long", 0));
setMPControl(scFileNode->getBoolValue("mp-control", false));
+ setAIControl(scFileNode->getBoolValue("ai-control", false));
SGPropertyNode* flols = scFileNode->getChild("flols-pos");
if (flols) {
} else
flols_off = SGVec3d::zeros();
- std::vector<SGPropertyNode_ptr> props = scFileNode->getChildren("wire");
+ std::vector<SGPropertyNode_ptr> props = scFileNode->getChildren("parking-pos");
std::vector<SGPropertyNode_ptr>::const_iterator it;
- for (it = props.begin(); it != props.end(); ++it) {
- std::string s = (*it)->getStringValue();
- if (!s.empty())
- wire_objects.push_back(s);
- }
-
- props = scFileNode->getChildren("catapult");
- for (it = props.begin(); it != props.end(); ++it) {
- std::string s = (*it)->getStringValue();
- if (!s.empty())
- catapult_objects.push_back(s);
- }
-
- props = scFileNode->getChildren("parking-pos");
for (it = props.begin(); it != props.end(); ++it) {
string name = (*it)->getStringValue("name", "unnamed");
// Transform to the right coordinate frame, configuration is done in
MPControl = c;
}
+void FGAICarrier::setAIControl(bool c) {
+ AIControl = c;
+}
+
void FGAICarrier::update(double dt) {
// 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
- //SG_LOG(SG_GENERAL, SG_ALERT, "AICarrier: MPControl " << MPControl );
- if (!MPControl){
+ //SG_LOG(SG_GENERAL, SG_ALERT, "AICarrier: MPControl " << MPControl << " AIControl " << AIControl);
+ if (!MPControl && AIControl){
if(turn_to_launch_hdg){
TurnToLaunch();
} else if(turn_to_recovery_hdg ){
TurnToRecover();
- } else if(OutsideBox() || returning ) {// check that the carrier is inside
- ReturnToBox(); // the operating box,
+ } else if(OutsideBox() || returning ) {// check that the carrier is inside
+ ReturnToBox(); // the operating box,
} else {
TurnToBase();
}
eyeWrtCarrier = ec2body.transform(eyeWrtCarrier);
// the eyepoints vector wrt the flols position
SGVec3d eyeWrtFlols = eyeWrtCarrier - flols_off;
-
+
// the distance from the eyepoint to the flols
dist = norm(eyeWrtFlols);
-
+
// now the angle, positive angles are upwards
if (fabs(dist) < SGLimits<float>::min()) {
angle = 0;
sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
angle = SGMiscd::rad2deg(asin(sAngle));
}
-
+
// set the value of source
if ( angle <= 4.35 && angle > 4.01 )
source = 1;
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 ...
- FGCarrierVisitor carrierVisitor(this, wire_objects, catapult_objects);
- node->accept(carrierVisitor);
-}
-
void FGAICarrier::bind() {
FGAIShip::bind();
props->tie("controls/start-pos-long-deg",
SGRawValueMethods<SGGeod,double>(pos, &SGGeod::getLongitudeDeg));
props->tie("controls/mp-control",
- SGRawValuePointer<bool>(&MPControl));
- props->tie("velocities/speed-kts",
- SGRawValuePointer<double>(&speed));
+ SGRawValuePointer<bool>(&MPControl));
+ props->tie("controls/ai-control",
+ SGRawValuePointer<bool>(&AIControl));
props->tie("environment/surface-wind-speed-true-kts",
SGRawValuePointer<double>(&wind_speed_kts));
props->tie("environment/surface-wind-from-true-degs",
SGRawValuePointer<double>(&rel_wind_speed_kts));
props->tie("environment/in-to-wind",
SGRawValuePointer<bool>(&in_to_wind));
- props->tie("controls/flols/wave-off-lights",
- SGRawValuePointer<bool>(&wave_off_lights));
+ //props->tie("controls/flols/wave-off-lights",
+ // SGRawValuePointer<bool>(&wave_off_lights));
props->tie("controls/elevators",
SGRawValuePointer<bool>(&elevators));
props->tie("surface-positions/elevators-pos-norm",
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("environment/in-to-wind");
- props->untie("controls/flols/wave-off-lights");
+ //props->untie("controls/flols/wave-off-lights");
props->untie("controls/elevators");
props->untie("surface-positions/elevators-pos-norm");
props->untie("controls/constants/elevators/trans-time-secs");
props->untie("controls/constants/jbd/trans-time-s");
props->untie("controls/jbd-time-constant");
props->untie("controls/mp-control");
+ props->untie("controls/ai-control");
props->untie("controls/turn-to-recovery-hdg");
props->untie("controls/turn-to-base-course");
}
rel_wind = rel_wind_from_deg - hdg;
SG_NORMALIZE_RANGE(rel_wind, -180.0, 180.0);
+ //set in to wind property
+ InToWind();
+
//switch the wave-off lights
- if (InToWind())
- wave_off_lights = false;
- else
- wave_off_lights = true;
+ //if (InToWind())
+ // wave_off_lights = false;
+ //else
+ // wave_off_lights = true;
// cout << "rel wind: " << rel_wind << endl;
if (wind_speed_kts < 3){
tgt_heading = base_course + 60;
} else if (rel_wind < -9 && rel_wind >= -180){
- tgt_heading = wind_from_deg;
+ tgt_heading = wind_from_deg;
} else if (rel_wind > -7 && rel_wind < 45){
tgt_heading = wind_from_deg + 60;
} else if (rel_wind >=45 && rel_wind < 180){
tgt_heading = wind_from_deg + 45;
- } else
+ } else
tgt_heading = hdg;
SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
projects / flightgear.git / blobdiff