#include <simgear/sg_inlines.h>
-#include <Main/viewer.hxx>
+#include <Viewer/viewer.hxx>
#include <Scenery/scenery.hxx>
-#include <Scenery/tilemgr.hxx>
#include <Airports/dynamics.hxx>
#include "AIGroundVehicle.hxx"
_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_z_offset(0),
-_parent(""),
+_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", 35.0));
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", 1.0));
setTowAngleLimit(scFileNode->getDoubleValue("tow-angle-limit-deg", 2.0));
setInitialTunnel(scFileNode->getBoolValue("tunnel", false));
void FGAIGroundVehicle::bind() {
FGAIShip::bind();
- props->tie("controls/constants/elevation-coeff",
+ tie("controls/constants/elevation-coeff",
SGRawValuePointer<double>(&_elevation_coeff));
- props->tie("controls/constants/pitch-coeff",
+ tie("controls/constants/pitch-coeff",
SGRawValuePointer<double>(&_pitch_coeff));
- props->tie("position/ht-AGL-ft",
+ tie("position/ht-AGL-ft",
SGRawValuePointer<double>(&_ht_agl_ft));
- props->tie("hitch/rel-bearing-deg",
+ tie("hitch/rel-bearing-deg",
SGRawValuePointer<double>(&_relbrg));
- props->tie("hitch/tow-angle-deg",
+ tie("hitch/tow-angle-deg",
SGRawValuePointer<double>(&_tow_angle));
- props->tie("hitch/range-ft",
+ tie("hitch/range-ft",
SGRawValuePointer<double>(&_range_ft));
- props->tie("hitch/x-offset-ft",
+ tie("hitch/x-offset-ft",
SGRawValuePointer<double>(&_x_offset));
- props->tie("hitch/y-offset-ft",
+ tie("hitch/y-offset-ft",
SGRawValuePointer<double>(&_y_offset));
- props->tie("hitch/z-offset-ft",
+ tie("hitch/z-offset-ft",
SGRawValuePointer<double>(&_z_offset));
- props->tie("hitch/parent-x-offset-ft",
+ tie("hitch/parent-x-offset-ft",
SGRawValuePointer<double>(&_parent_x_offset));
- props->tie("hitch/parent-y-offset-ft",
+ tie("hitch/parent-y-offset-ft",
SGRawValuePointer<double>(&_parent_y_offset));
- props->tie("hitch/parent-z-offset-ft",
+ tie("hitch/parent-z-offset-ft",
SGRawValuePointer<double>(&_parent_z_offset));
- props->tie("controls/constants/tow-angle/gain",
+ tie("controls/constants/tow-angle/gain",
SGRawValuePointer<double>(&_tow_angle_gain));
- props->tie("controls/constants/tow-angle/limit-deg",
+ tie("controls/constants/tow-angle/limit-deg",
SGRawValuePointer<double>(&_tow_angle_limit));
- props->tie("controls/contact-x1-offset-ft",
+ tie("controls/contact-x1-offset-ft",
SGRawValuePointer<double>(&_contact_x1_offset));
- props->tie("controls/contact-x2-offset-ft",
+ tie("controls/contact-x2-offset-ft",
SGRawValuePointer<double>(&_contact_x2_offset));
}
-void FGAIGroundVehicle::unbind() {
- FGAIShip::unbind();
-
- props->untie("controls/constants/elevation-coeff");
- 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");
- props->untie("controls/contact-x2-offset-ft");
-}
-
bool FGAIGroundVehicle::init(bool search_in_AI_path) {
if (!FGAIShip::init(search_in_AI_path))
return false;
+ reinit();
+ return true;
+}
+void FGAIGroundVehicle::reinit() {
invisible = false;
_limit = 200;
no_roll = true;
- return 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();
+ }
+
+ FGAIShip::reinit();
}
void FGAIGroundVehicle::update(double dt) {
- // SG_LOG(SG_GENERAL, SG_ALERT, "updating GroundVehicle: " << _name );
+ // SG_LOG(SG_AI, SG_ALERT, "updating GroundVehicle: " << _name );
FGAIShip::update(dt);
RunGroundVehicle(dt);
_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){
ta *= _tow_angle_gain;
double factor = -0.0045 * speed + 1;
SG_CLAMP_RANGE(_tow_angle, -limit, 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;
- }
-
-}
-
bool FGAIGroundVehicle::getPitch() {
if (!_tunnel){
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)){
+ elev_front, NULL, 0)){
front_elev_m = elev_front + _z_offset_m;
} else
return false;
if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(geodRear, 3000),
- elev_rear, &_material, 0)){
+ elev_rear, NULL, 0)){
rear_elev_m = elev_rear;
} else
return false;
} else {
- if (prev->altitude == 0 || curr->altitude == 0) return false;
+ if (prev->getAltitude() == 0 || curr->getAltitude() == 0) return false;
static double distance;
static double d_alt;
if (_new_waypoint){
//cout << "new waypoint, calculating pitch " << endl;
- curr_alt = curr->altitude;
- prev_alt = prev->altitude;
- cout << "prev_alt" <<prev_alt << endl;
+ curr_alt = curr->getAltitude();
+ prev_alt = prev->getAltitude();
+
//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));
+ distance = SGGeodesy::distanceM(SGGeod::fromDeg(prev->getLongitude(), prev->getLatitude()),
+ SGGeod::fromDeg(curr->getLongitude(), curr->getLatitude()));
_pitch = atan2(d_alt, distance * SG_METER_TO_FEET) * SG_RADIANS_TO_DEGREES;
//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));
+ SGGeod::fromDeg(curr->getLongitude(), curr->getLatitude()));
/*cout << "tunnel " << _tunnel
<< " distance prev & curr " << prev->name << " " << curr->name << " " << distance * SG_METER_TO_FEET
}
- getGroundElev(pos);
-
return true;
}
-void FGAIGroundVehicle::setParent() {
-
- const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
-
- for (int i = ai->nChildren() - 1; i >= -1; i--) {
- SGPropertyNode_ptr 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
-
- 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 hitch_z_offset_m = _selected_ac->getDoubleValue("hitch/z-offset-ft")
- * SG_FEET_TO_METER;
-
- _selectedpos.setLatitudeDeg(lat);
- _selectedpos.setLongitudeDeg(lon);
- _selectedpos.setElevationFt(elevation);
+void FGAIGroundVehicle::setParent(){
- _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");
+ double lat = _selected_ac->getDoubleValue("position/latitude-deg");
+ double lon = _selected_ac->getDoubleValue("position/longitude-deg");
+ double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
- _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
+ _selectedpos.setLatitudeDeg(lat);
+ _selectedpos.setLongitudeDeg(lon);
+ _selectedpos.setElevationFt(elevation);
- SGVec3d rear_hitch(-hitch_x_offset_m, hitch_y_offset_m, 0);
- SGVec3d RearHitch = getCartHitchPosAt(rear_hitch);
+ _parent_speed = _selected_ac->getDoubleValue("velocities/true-airspeed-kt");
- SGGeod rearpos = SGGeod::fromCart(RearHitch);
+ SGVec3d rear_hitch(-_hitch_x_offset_m, _hitch_y_offset_m, 0);
+ SGVec3d RearHitch = getCartHitchPosAt(rear_hitch);
- double user_lat = rearpos.getLatitudeDeg();
- double user_lon = rearpos.getLongitudeDeg();
+ SGGeod rearpos = SGGeod::fromCart(RearHitch);
- double range, bearing;
+ double user_lat = rearpos.getLatitudeDeg();
+ double user_lon = rearpos.getLongitudeDeg();
- 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");
double count = 0;
string parent_next_name =_selected_ac->getStringValue("waypoint/name-next");
- while(fp->getNextWaypoint() != 0 && fp->getNextWaypoint()->name != "END" && count < 5){
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
+ while(fp->getNextWaypoint() != 0 && fp->getNextWaypoint()->getName() != "END" && count < 5){
+ SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
<<" advancing waypoint to: " << parent_next_name);
- if (fp->getNextWaypoint()->name == parent_next_name){
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
- << " not setting waypoint already at: " << fp->getNextWaypoint()->name);
+ if (fp->getNextWaypoint()->getName() == parent_next_name){
+ SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
+ << " not setting waypoint already at: " << fp->getNextWaypoint()->getName());
return;
}
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
- if (fp->getNextWaypoint()->name == parent_next_name){
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
- << " waypoint set to: " << fp->getNextWaypoint()->name);
+ if (fp->getNextWaypoint()->getName() == parent_next_name){
+ SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
+ << " waypoint set to: " << fp->getNextWaypoint()->getName());
return;
}
}// end while loop
- while(fp->getPreviousWaypoint() != 0 && fp->getPreviousWaypoint()->name != "END"
+ while(fp->getPreviousWaypoint() != 0 && fp->getPreviousWaypoint()->getName() != "END"
&& count > -10){
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
+ SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
<< " retreating waypoint to: " << parent_next_name
- << " at: " << fp->getNextWaypoint()->name);
+ << " at: " << fp->getNextWaypoint()->getName());
- if (fp->getNextWaypoint()->name == parent_next_name){
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
- << " not setting waypoint already at:" << fp->getNextWaypoint()->name );
+ if (fp->getNextWaypoint()->getName() == parent_next_name){
+ SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
+ << " not setting waypoint already at:" << fp->getNextWaypoint()->getName() );
return;
}
curr = fp->getCurrentWaypoint();
next = fp->getNextWaypoint();
- if (fp->getNextWaypoint()->name == parent_next_name){
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
- << " waypoint set to: " << fp->getNextWaypoint()->name);
+ if (fp->getNextWaypoint()->getName() == parent_next_name){
+ SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
+ << " waypoint set to: " << fp->getNextWaypoint()->getName());
return;
}
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(_parent == ""){
- AccelTo(prev->speed);
+ AccelTo(prev->getSpeed());
_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");
+ //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
+ if (parent_next_name == "END" && fp->getNextWaypoint()->getName() != "END" ){
+ SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
<< " setting END: getting new waypoints ");
AdvanceFP();
setWPNames();
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
+ SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
<< " setting WAIT/WAITUNTIL: getting new waypoints ");
AdvanceFP();
setWPNames();
_waiting = true;
- } else if (parent_next_name != "WAIT" && fp->getNextWaypoint()->name == "WAIT"){
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIGroundVeh1cle: " << _name
+ } else if (parent_next_name != "WAIT" && fp->getNextWaypoint()->getName() == "WAIT"){
+ SG_LOG(SG_AI, SG_DEBUG, "AIGroundVeh1cle: " << _name
<< " wait done: getting new waypoints ");
_waiting = false;
_wait_count = 0;
fp->IncrementWaypoint(false);
next = fp->getNextWaypoint();
- if (next->name == "WAITUNTIL" || next->name == "WAIT"
- || next->name == "END"){
+ if (next->getName() == "WAITUNTIL" || next->getName() == "WAIT"
+ || next->getName() == "END"){
} else {
prev = curr;
fp->IncrementWaypoint(false);
setWPNames();
} else if (_range_ft > (_x_offset +_parent_x_offset)* 4
){
- SG_LOG(SG_GENERAL, SG_ALERT, "AIGroundVeh1cle: " << _name
+ SG_LOG(SG_AI, SG_ALERT, "AIGroundVeh1cle: " << _name
<< " rescue: reforming train " << _range_ft
);
projects / flightgear.git / blobdiff