_pitch(0),
_pitch_deg(0),
_speed_kt(0),
-_selected_ac(0),
_range_ft(0),
_relbrg (0),
_parent_speed(0),
-_dt_count(0),
-_next_run(0),
_parent_x_offset(0),
_parent_y_offset(0),
-_parent("")
+_parent_z_offset(0),
+_dt_count(0),
+_next_run(0),
+_break_count(0)
{
invisible = false;
+ _parent = "";
}
FGAIGroundVehicle::~FGAIGroundVehicle() {}
FGAIShip::readFromScenario(scFileNode);
- setNoRoll(scFileNode->getBoolValue("no-roll", true));
setName(scFileNode->getStringValue("name", "groundvehicle"));
- setSMPath(scFileNode->getStringValue("submodel-path", ""));
+ setParentName(scFileNode->getStringValue("parent", ""));
+ setNoRoll(scFileNode->getBoolValue("no-roll", true));
setContactX1offset(scFileNode->getDoubleValue("contact-x1-offset", 0.0));
setContactX2offset(scFileNode->getDoubleValue("contact-x2-offset", 0.0));
- setXOffset(scFileNode->getDoubleValue("hitch-x-offset", 38.55));
+ setXOffset(scFileNode->getDoubleValue("hitch-x-offset", 35.0));
setYOffset(scFileNode->getDoubleValue("hitch-y-offset", 0.0));
+ setZOffset(scFileNode->getDoubleValue("hitch-z-offset", 0.0));
setPitchoffset(scFileNode->getDoubleValue("pitch-offset", 0.0));
setRolloffset(scFileNode->getDoubleValue("roll-offset", 0.0));
setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0));
setPitchCoeff(scFileNode->getDoubleValue("pitch-coefficient", 0.1));
setElevCoeff(scFileNode->getDoubleValue("elevation-coefficient", 0.25));
- setParentName(scFileNode->getStringValue("parent", ""));
- setTowAngleGain(scFileNode->getDoubleValue("tow-angle-gain", 2.0));
+ setTowAngleGain(scFileNode->getDoubleValue("tow-angle-gain", 1.0));
setTowAngleLimit(scFileNode->getDoubleValue("tow-angle-limit-deg", 2.0));
+ setInitialTunnel(scFileNode->getBoolValue("tunnel", false));
//we may need these later for towed vehicles
// setSubID(scFileNode->getIntValue("SubID", 0));
// setGroundOffset(scFileNode->getDoubleValue("ground-offset", 0.0));
SGRawValuePointer<double>(&_x_offset));
props->tie("hitch/y-offset-ft",
SGRawValuePointer<double>(&_y_offset));
+ props->tie("hitch/z-offset-ft",
+ SGRawValuePointer<double>(&_z_offset));
props->tie("hitch/parent-x-offset-ft",
SGRawValuePointer<double>(&_parent_x_offset));
props->tie("hitch/parent-y-offset-ft",
SGRawValuePointer<double>(&_parent_y_offset));
+ props->tie("hitch/parent-z-offset-ft",
+ SGRawValuePointer<double>(&_parent_z_offset));
props->tie("controls/constants/tow-angle/gain",
SGRawValuePointer<double>(&_tow_angle_gain));
props->tie("controls/constants/tow-angle/limit-deg",
FGAIShip::unbind();
props->untie("controls/constants/elevation-coeff");
- props->untie("position/ht-AGL-ft");
props->untie("controls/constants/pitch-coeff");
+ props->untie("position/ht-AGL-ft");
props->untie("hitch/rel-bearing-deg");
props->untie("hitch/tow-angle-deg");
props->untie("hitch/range-ft");
props->untie("hitch/x-offset-ft");
props->untie("hitch/y-offset-ft");
+ props->untie("hitch/z-offset-ft");
props->untie("hitch/parent-x-offset-ft");
props->untie("hitch/parent-y-offset-ft");
+ props->untie("hitch/parent-y-offset-ft");
props->untie("controls/constants/tow-angle/gain");
props->untie("controls/constants/tow-angle/limit-deg");
props->untie("controls/contact-x1-offset-ft");
_limit = 200;
no_roll = true;
+ props->setStringValue("controls/parent-name", _parent.c_str());
+
+ if (setParentNode()){
+ _parent_x_offset = _selected_ac->getDoubleValue("hitch/x-offset-ft");
+ _parent_y_offset = _selected_ac->getDoubleValue("hitch/y-offset-ft");
+ _parent_z_offset = _selected_ac->getDoubleValue("hitch/z-offset-ft");
+ _hitch_x_offset_m = _selected_ac->getDoubleValue("hitch/x-offset-ft")
+ * SG_FEET_TO_METER;
+ _hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
+ * SG_FEET_TO_METER;
+ _hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
+ * SG_FEET_TO_METER;
+ setParent();
+ }
+
return true;
}
void FGAIGroundVehicle::update(double dt) {
// SG_LOG(SG_GENERAL, SG_ALERT, "updating GroundVehicle: " << _name );
+ FGAIShip::update(dt);
RunGroundVehicle(dt);
-// FGAIShip::update(dt);
}
void FGAIGroundVehicle::setNoRoll(bool nr) {
_y_offset = y;
}
+void FGAIGroundVehicle::setZOffset(double z) {
+ _z_offset = z;
+}
+
void FGAIGroundVehicle::setPitchCoeff(double pc) {
_pitch_coeff = pc;
}
_pitch_deg = (p * c) + (_pitch_deg * (1 - c));
}
-void FGAIGroundVehicle::setParentName(const string& p) {
- _parent = p;
-}
-
void FGAIGroundVehicle::setTowAngle(double ta, double dt, double coeff){
- //_tow_angle = ta * _tow_angle_gain;
- _tow_angle = pow(ta,2) * sign(ta);
- SG_CLAMP_RANGE(_tow_angle, -_tow_angle_limit, _tow_angle_limit);
-}
-
-bool FGAIGroundVehicle::getGroundElev(SGGeod inpos) {
-
- double height_m ;
-
- if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(inpos, 3000), height_m, &_material,0)){
- _ht_agl_ft = inpos.getElevationFt() - height_m * SG_METER_TO_FEET;
-
- if (_material) {
- const vector<string>& names = _material->get_names();
-
- _solid = _material->get_solid();
-
- if (!names.empty())
- props->setStringValue("material/name", names[0].c_str());
- else
- props->setStringValue("material/name", "");
-
- //cout << "material " << names[0].c_str()
- // << " _elevation_m " << _elevation_m
- // << " solid " << _solid
- // << " load " << _load_resistance
- // << " frictionFactor " << _frictionFactor
- // << endl;
-
- }
-
- return true;
- } else {
- return false;
- }
-
+ ta *= _tow_angle_gain;
+ double factor = -0.0045 * speed + 1;
+ double limit = _tow_angle_limit * factor;
+// cout << "speed "<< speed << " _factor " << _factor<<" " <<_tow_angle_limit<< endl;
+ _tow_angle = pow(ta,2) * sign(ta) * factor;
+ SG_CLAMP_RANGE(_tow_angle, -limit, limit);
}
bool FGAIGroundVehicle::getPitch() {
if (!_tunnel){
-
double vel = props->getDoubleValue("velocities/true-airspeed-kt", 0);
double contact_offset_x1_m = _contact_x1_offset * SG_FEET_TO_METER;
double contact_offset_x2_m = _contact_x2_offset * SG_FEET_TO_METER;
+ double _z_offset_m = _parent_z_offset * SG_FEET_TO_METER;
SGVec3d front(-contact_offset_x1_m, 0, 0);
SGVec3d rear(-contact_offset_x2_m, 0, 0);
double rear_elev_m = 0;
double elev_front = 0;
double elev_rear = 0;
- double max_alt = 10000;
+ //double max_alt = 10000;
- if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodFront, 3000), elev_front,
- &_material, 0)){
- front_elev_m = elev_front;
+ if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodFront, 3000),
+ elev_front, &_material, 0)){
+ front_elev_m = elev_front + _z_offset_m;
} else
return false;
static double prev_alt;
if (_new_waypoint){
- cout << "new waypoint, calculating pitch " << endl;
- curr_alt = curr->altitude * SG_METER_TO_FEET;
- prev_alt = prev->altitude * SG_METER_TO_FEET;
- d_alt = curr_alt - prev_alt;
-
+ //cout << "new waypoint, calculating pitch " << endl;
+ curr_alt = curr->altitude;
+ prev_alt = prev->altitude;
+ //cout << "prev_alt" <<prev_alt << endl;
+ d_alt = (curr_alt - prev_alt) * SG_METER_TO_FEET;
+ //_elevation = prev->altitude;
distance = SGGeodesy::distanceM(SGGeod::fromDeg(prev->longitude, prev->latitude),
SGGeod::fromDeg(curr->longitude, curr->latitude));
-
_pitch = atan2(d_alt, distance * SG_METER_TO_FEET) * SG_RADIANS_TO_DEGREES;
-// cout << "new waypoint, calculating pitch " << _pitch << endl;
+ //cout << "new waypoint, calculating pitch " << _pitch <<
+ // " " << _pitch_offset << " " << _elevation <<endl;
}
-
double distance_to_go = SGGeodesy::distanceM(SGGeod::fromDeg(pos.getLongitudeDeg(), pos.getLatitudeDeg()),
SGGeod::fromDeg(curr->longitude, curr->latitude));
- //cout << "tunnel " << _tunnel
- // << " distance curr & prev " << prev->name << " " << curr->name << " " << distance * SG_METER_TO_FEET
- // << " distance to go " << distance_to_go * SG_METER_TO_FEET
- // << " d_alt ft " << d_alt
- // << endl;
+ /*cout << "tunnel " << _tunnel
+ << " distance prev & curr " << prev->name << " " << curr->name << " " << distance * SG_METER_TO_FEET
+ << " distance to go " << distance_to_go * SG_METER_TO_FEET
+ << " d_alt ft " << d_alt
+ << endl;*/
if (distance_to_go > distance)
_elevation = prev_alt;
}
- getGroundElev(pos);
-
return true;
}
-void FGAIGroundVehicle::setParent() {
-
- const SGPropertyNode *ai = fgGetNode("/ai/models", true);
-
- for (int i = ai->nChildren() - 1; i >= -1; i--) {
- const SGPropertyNode *model;
-
- if (i < 0) { // last iteration: selected model
- model = _selected_ac;
- } else {
- model = ai->getChild(i);
- string path = ai->getPath();
- const string name = model->getStringValue("name");
-
- if (!model->nChildren()){
- continue;
- }
- if (name == _parent) {
- _selected_ac = model; // save selected model for last iteration
- break;
- }
-
- }
- if (!model)
- continue;
-
- }// end for loop
+void FGAIGroundVehicle::setParent(){
- if (_selected_ac != 0){
- const string name = _selected_ac->getStringValue("name");
- double lat = _selected_ac->getDoubleValue("position/latitude-deg");
- double lon = _selected_ac->getDoubleValue("position/longitude-deg");
- double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
- double hitch_x_offset_m = _selected_ac->getDoubleValue("hitch/x-offset-ft")
- * SG_FEET_TO_METER;
- double hitch_y_offset_m = _selected_ac->getDoubleValue("hitch/y-offset-ft")
- * SG_FEET_TO_METER;
+ double lat = _selected_ac->getDoubleValue("position/latitude-deg");
+ double lon = _selected_ac->getDoubleValue("position/longitude-deg");
+ double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
- _selectedpos.setLatitudeDeg(lat);
- _selectedpos.setLongitudeDeg(lon);
- _selectedpos.setElevationFt(elevation);
+ _selectedpos.setLatitudeDeg(lat);
+ _selectedpos.setLongitudeDeg(lon);
+ _selectedpos.setElevationFt(elevation);
- _parent_x_offset = _selected_ac->getDoubleValue("hitch/x-offset-ft");
- _parent_y_offset = _selected_ac->getDoubleValue("hitch/y-offset-ft");
- _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
+ _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
- SGVec3d rear_hitch(-hitch_x_offset_m, hitch_y_offset_m, 0);
- SGVec3d RearHitch = getCartHitchPosAt(rear_hitch);
+ SGVec3d rear_hitch(-_hitch_x_offset_m, _hitch_y_offset_m, 0);
+ SGVec3d RearHitch = getCartHitchPosAt(rear_hitch);
- SGGeod rearpos = SGGeod::fromCart(RearHitch);
+ SGGeod rearpos = SGGeod::fromCart(RearHitch);
- double user_lat = rearpos.getLatitudeDeg();
- double user_lon = rearpos.getLongitudeDeg();
+ double user_lat = rearpos.getLatitudeDeg();
+ double user_lon = rearpos.getLongitudeDeg();
- double range, bearing;
-
- calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
- user_lat, user_lon, range, bearing);
- _range_ft = range * 6076.11549;
- _relbrg = calcRelBearingDeg(bearing, hdg);
- } else {
- SG_LOG(SG_GENERAL, SG_ALERT, "AIGroundVeh1cle: " << _name
- << " parent not found: dying ");
- setDie(true);
- }
+ double range, bearing;
+ calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
+ user_lat, user_lon, range, bearing);
+ _range_ft = range * 6076.11549;
+ _relbrg = calcRelBearingDeg(bearing, hdg);
}
void FGAIGroundVehicle::calcRangeBearing(double lat, double lon, double lat2, double lon2,
range = distance * SG_METER_TO_NM;
}
-double FGAIGroundVehicle::calcRelBearingDeg(double bearing, double heading)
-{
- double angle = bearing - heading;
- SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
- return angle;
-}
SGVec3d FGAIGroundVehicle::getCartHitchPosAt(const SGVec3d& _off) const {
double hdg = _selected_ac->getDoubleValue("orientation/true-heading-deg");
void FGAIGroundVehicle::setTowSpeed(){
- double diff = _range_ft - _x_offset;
+ //double diff = _range_ft - _x_offset;
double x = 0;
if (_range_ft > _x_offset * 3) x = 50;
if (_dt_count < _next_run)
return;
- _next_run = 0.055 /*+ (0.015 * sg_random())*/;
+ _next_run = 0.05 /*+ (0.015 * sg_random())*/;
if (getPitch()){
setElevation(_elevation, _dt_count, _elevation_coeff);
if(_parent == ""){
AccelTo(prev->speed);
- FGAIShip::update(_dt_count);
_dt_count = 0;
return;
}
string parent_next_name = _selected_ac->getStringValue("waypoint/name-next");
bool parent_waiting = _selected_ac->getBoolValue("waypoint/waiting");
+ //bool parent_restart = _selected_ac->getBoolValue("controls/restart");
if (parent_next_name == "END" && fp->getNextWaypoint()->name != "END" ){
SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
<< " setting END: getting new waypoints ");
AdvanceFP();
setWPNames();
+ setTunnel(_initial_tunnel);
+ if(_restart) _missed_count = 200;
/*} else if (parent_next_name == "WAIT" && fp->getNextWaypoint()->name != "WAIT" ){*/
} else if (parent_waiting && !_waiting){
SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
}
setWPNames();
- } else if (_range_ft > _parent_x_offset * 4){
- SG_LOG(SG_GENERAL, SG_INFO, "AIGroundVeh1cle: " << _name
- << " rescue: reforming train " << _range_ft << " " << _x_offset * 15);
+ } else if (_range_ft > (_x_offset +_parent_x_offset)* 4
+ ){
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIGroundVeh1cle: " << _name
+ << " rescue: reforming train " << _range_ft
+ );
setTowAngle(0, dt, 1);
- setSpeed(_parent_speed * 2);
+ setSpeed(_parent_speed + (10 * sign(_parent_speed)));
} else if (_parent_speed > 1){
} else
setSpeed(_parent_speed);
- FGAIShip::update(_dt_count);
+// FGAIShip::update(_dt_count);
_dt_count = 0;
}
projects / flightgear.git / blobdiff