// - a global management type for AI objects
//
// Written by David Culp, started October 2003.
-// - davidculp2@comcast.net
+// - davidculp2@comcast.net
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+#include <cstring>
+
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/props/props_io.hxx>
+#include <simgear/structure/exception.hxx>
+
#include <Main/globals.hxx>
#include <Airports/simple.hxx>
#include "AICarrier.hxx"
#include "AIStatic.hxx"
#include "AIMultiplayer.hxx"
+#include "AITanker.hxx"
+#include "AIWingman.hxx"
+#include "AIGroundVehicle.hxx"
+#include "AIEscort.hxx"
FGAIManager::FGAIManager() {
- _dt = 0.0;
- mNumAiModels = 0;
- for (unsigned i = 0; i < FGAIBase::MAX_OBJECTS; ++i)
- mNumAiTypeModels[i] = 0;
-}
+ _dt = 0.0;
+ mNumAiModels = 0;
-FGAIManager::~FGAIManager() {
- ai_list_iterator ai_list_itr = ai_list.begin();
- while(ai_list_itr != ai_list.end()) {
- (*ai_list_itr)->unbind();
- ++ai_list_itr;
- }
+ for (unsigned i = 0; i < FGAIBase::MAX_OBJECTS; ++i)
+ mNumAiTypeModels[i] = 0;
}
+FGAIManager::~FGAIManager() {
+ ai_list_iterator ai_list_itr = ai_list.begin();
-void FGAIManager::init() {
- root = fgGetNode("sim/ai", true);
-
- enabled = root->getNode("enabled", true)->getBoolValue();
- if (!enabled)
- return;
-
- wind_from_down_node = fgGetNode("/environment/wind-from-down-fps", true);
- wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
- wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
+ while(ai_list_itr != ai_list.end()) {
+ (*ai_list_itr)->unbind();
+ ++ai_list_itr;
+ }
+}
- user_latitude_node = fgGetNode("/position/latitude-deg", true);
- user_longitude_node = fgGetNode("/position/longitude-deg", true);
- user_altitude_node = fgGetNode("/position/altitude-ft", true);
- user_heading_node = fgGetNode("/orientation/heading-deg", true);
- user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
- user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
- user_speed_node = fgGetNode("/velocities/uBody-fps", true);
+void
+FGAIManager::init() {
+ root = fgGetNode("sim/ai", true);
+
+ enabled = root->getNode("enabled", true)->getBoolValue();
+
+ if (!enabled)
+ return;
+
+ thermal_lift_node = fgGetNode("/environment/thermal-lift-fps", true);
+ wind_from_east_node = fgGetNode("/environment/wind-from-east-fps",true);
+ wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);
+
+ user_latitude_node = fgGetNode("/position/latitude-deg", true);
+ user_longitude_node = fgGetNode("/position/longitude-deg", true);
+ user_altitude_node = fgGetNode("/position/altitude-ft", true);
+ user_altitude_agl_node = fgGetNode("/position/altitude-agl-ft", true);
+ user_heading_node = fgGetNode("/orientation/heading-deg", true);
+ user_pitch_node = fgGetNode("/orientation/pitch-deg", true);
+ user_yaw_node = fgGetNode("/orientation/side-slip-deg", true);
+ user_roll_node = fgGetNode("/orientation/roll-deg", true);
+ user_speed_node = fgGetNode("/velocities/uBody-fps", true);
+}
+void
+FGAIManager::postinit() {
+ // postinit, so that it can access the Nasal subsystem
+ map<string, bool> scenarios;
+ for (int i = 0 ; i < root->nChildren() ; i++) {
+ SGPropertyNode *n = root->getChild(i);
+ if (strcmp(n->getName(), "scenario"))
+ continue;
+
+ string name = n->getStringValue();
+ if (name.empty())
+ continue;
+
+ if (scenarios.find(name) != scenarios.end()) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "won't load scenario '" << name << "' twice");
+ continue;
+ }
- /// Move that into the constructor
- for(int i = 0 ; i < root->nChildren() ; i++) {
- SGPropertyNode *aiEntry = root->getChild( i );
- if( !strcmp( aiEntry->getName(), "scenario" ) ) {
- scenario_filename = aiEntry->getStringValue();
- if (!scenario_filename.empty())
- processScenario( scenario_filename );
+ SG_LOG(SG_GENERAL, SG_ALERT, "loading scenario '" << name << '\'');
+ processScenario(name);
+ scenarios[name] = true;
}
- }
}
+void
+FGAIManager::reinit() {
+ update(0.0);
-void FGAIManager::reinit() {
- update(0.0);
- ai_list_iterator ai_list_itr = ai_list.begin();
+ ai_list_iterator ai_list_itr = ai_list.begin();
- while(ai_list_itr != ai_list.end()) {
- (*ai_list_itr)->reinit();
- ++ai_list_itr;
- }
+ while(ai_list_itr != ai_list.end()) {
+ (*ai_list_itr)->reinit();
+ ++ai_list_itr;
+ }
}
-
-void FGAIManager::bind() {
- root = globals->get_props()->getNode("ai/models", true);
- root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
- &FGAIManager::getNumAiObjects));
+void
+FGAIManager::bind() {
+ root = globals->get_props()->getNode("ai/models", true);
+ root->tie("count", SGRawValueMethods<FGAIManager, int>(*this,
+ &FGAIManager::getNumAiObjects));
}
-
-void FGAIManager::unbind() {
+void
+FGAIManager::unbind() {
root->untie("count");
}
-
-void FGAIManager::update(double dt) {
- // initialize these for finding nearest thermals
- range_nearest = 10000.0;
- strength = 0.0;
- if (!enabled)
- return;
-
- FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
- _dt = dt;
-
- ai_list_iterator ai_list_itr = ai_list.begin();
- while(ai_list_itr != ai_list.end()) {
- if ((*ai_list_itr)->getDie()) {
- tmgr->release((*ai_list_itr)->getID());
- --mNumAiModels;
- --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
- (*ai_list_itr)->unbind();
- ai_list_itr = ai_list.erase(ai_list_itr);
- } else {
- fetchUserState();
- if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
- FGAIBase *base = *ai_list_itr;
- processThermal((FGAIThermal*)base);
- } else {
- (*ai_list_itr)->update(_dt);
- }
- ++ai_list_itr;
+void
+FGAIManager::update(double dt) {
+ // initialize these for finding nearest thermals
+ range_nearest = 10000.0;
+ strength = 0.0;
+
+ if (!enabled)
+ return;
+
+ FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
+ _dt = dt;
+
+ ai_list_iterator ai_list_itr = ai_list.begin();
+
+ while(ai_list_itr != ai_list.end()) {
+
+ if ((*ai_list_itr)->getDie()) {
+ tmgr->release((*ai_list_itr)->getID());
+ --mNumAiModels;
+ --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
+ FGAIBase *base = (*ai_list_itr).get();
+ SGPropertyNode *props = base->_getProps();
+
+ props->setBoolValue("valid", false);
+ base->unbind();
+
+ // for backward compatibility reset properties, so that aircraft,
+ // which don't know the <valid> property, keep working
+ // TODO: remove after a while
+ props->setIntValue("id", -1);
+ props->setBoolValue("radar/in-range", false);
+ props->setIntValue("refuel/tanker", false);
+
+ ai_list_itr = ai_list.erase(ai_list_itr);
+ } else {
+ fetchUserState();
+ if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
+ FGAIBase *base = (*ai_list_itr).get();
+ processThermal((FGAIThermal*)base);
+ } else {
+ (*ai_list_itr)->update(_dt);
+ }
+ ++ai_list_itr;
+ }
}
- }
- wind_from_down_node->setDoubleValue( strength ); // for thermals
+
+ thermal_lift_node->setDoubleValue( strength ); // for thermals
}
void
-FGAIManager::attach(SGSharedPtr<FGAIBase> model)
+FGAIManager::attach(FGAIBase *model)
{
- unsigned idx = mNumAiTypeModels[model->getType()];
- const char* typeString = model->getTypeString();
- SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
- SGPropertyNode* p;
- int i;
- for (i=0;i<10000;i++) //find free index in the property tree, if we have
- //more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
- {
- p = root->getNode(typeString, i, false);
- if (!p) break;
- if (p->getIntValue("id",-1)==model->getID())
- {
- p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
-
+ //unsigned idx = mNumAiTypeModels[model->getType()];
+ const char* typeString = model->getTypeString();
+ SGPropertyNode* root = globals->get_props()->getNode("ai/models", true);
+ SGPropertyNode* p;
+ int i;
+
+ // find free index in the property tree, if we have
+ // more than 10000 mp-aircrafts in the property tree we should optimize the mp-server
+ for (i = 0; i < 10000; i++) {
+ p = root->getNode(typeString, i, false);
+
+ if (!p || !p->getBoolValue("valid", false))
+ break;
+
+ if (p->getIntValue("id",-1)==model->getID()) {
+ p->setStringValue("callsign","***invalid node***"); //debug only, should never set!
+ }
}
- }
- p = root->getNode(typeString, i, true);
- model->setManager(this, p);
- ai_list.push_back(model);
- ++mNumAiModels;
- ++(mNumAiTypeModels[model->getType()]);
- model->init(model->getType()==FGAIBase::otAircraft
- || model->getType()==FGAIBase::otMultiplayer
- || model->getType()==FGAIBase::otStatic);
- model->bind();
+
+ p = root->getNode(typeString, i, true);
+ model->setManager(this, p);
+ ai_list.push_back(model);
+ ++mNumAiModels;
+ ++(mNumAiTypeModels[model->getType()]);
+ model->init(model->getType()==FGAIBase::otAircraft
+ || model->getType()==FGAIBase::otMultiplayer
+ || model->getType()==FGAIBase::otStatic);
+ model->bind();
+ p->setBoolValue("valid", true);
}
+void
+FGAIManager::destroyObject( int ID ) {
+ ai_list_iterator ai_list_itr = ai_list.begin();
+
+ while(ai_list_itr != ai_list.end()) {
+
+ if ((*ai_list_itr)->getID() == ID) {
+ --mNumAiModels;
+ --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
+ (*ai_list_itr)->unbind();
+ ai_list_itr = ai_list.erase(ai_list_itr);
+ } else
+ ++ai_list_itr;
+ }
-void FGAIManager::destroyObject( int ID ) {
- ai_list_iterator ai_list_itr = ai_list.begin();
- while(ai_list_itr != ai_list.end()) {
- if ((*ai_list_itr)->getID() == ID) {
- --mNumAiModels;
- --(mNumAiTypeModels[(*ai_list_itr)->getType()]);
- (*ai_list_itr)->unbind();
- ai_list_itr = ai_list.erase(ai_list_itr);
- } else
- ++ai_list_itr;
- }
}
int
FGAIManager::getNumAiObjects(void) const
{
- return mNumAiModels;
+ return mNumAiModels;
}
-void FGAIManager::fetchUserState( void ) {
- user_latitude = user_latitude_node->getDoubleValue();
- user_longitude = user_longitude_node->getDoubleValue();
- user_altitude = user_altitude_node->getDoubleValue();
- user_heading = user_heading_node->getDoubleValue();
- user_pitch = user_pitch_node->getDoubleValue();
- user_yaw = user_yaw_node->getDoubleValue();
- user_speed = user_speed_node->getDoubleValue() * 0.592484;
- wind_from_east = wind_from_east_node->getDoubleValue();
- wind_from_north = wind_from_north_node->getDoubleValue();
-}
+void
+FGAIManager::fetchUserState( void ) {
+
+ user_latitude = user_latitude_node->getDoubleValue();
+ user_longitude = user_longitude_node->getDoubleValue();
+ user_altitude = user_altitude_node->getDoubleValue();
+ user_heading = user_heading_node->getDoubleValue();
+ user_pitch = user_pitch_node->getDoubleValue();
+ user_yaw = user_yaw_node->getDoubleValue();
+ user_speed = user_speed_node->getDoubleValue() * 0.592484;
+ user_roll = user_roll_node->getDoubleValue();
+ wind_from_east = wind_from_east_node->getDoubleValue();
+ wind_from_north = wind_from_north_node->getDoubleValue();
+ user_altitude_agl = user_altitude_agl_node->getDoubleValue();
+}
// only keep the results from the nearest thermal
-void FGAIManager::processThermal( FGAIThermal* thermal ) {
- thermal->update(_dt);
- if ( thermal->_getRange() < range_nearest ) {
- range_nearest = thermal->_getRange();
- strength = thermal->getStrength();
- }
+void
+FGAIManager::processThermal( FGAIThermal* thermal ) {
+ thermal->update(_dt);
+
+ if ( thermal->_getRange() < range_nearest ) {
+ range_nearest = thermal->_getRange();
+ strength = thermal->getStrength();
+ }
+
}
-void FGAIManager::processScenario( const string &filename ) {
-
- SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
- if (!scenarioTop)
- return;
- SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
- if (!scenarios)
- return;
-
- for (int i = 0; i < scenarios->nChildren(); i++) {
- SGPropertyNode* scEntry = scenarios->getChild(i);
- std::string type = scEntry->getStringValue("type", "aircraft");
-
- if (type == "aircraft") {
- FGAIAircraft* aircraft = new FGAIAircraft;
- aircraft->readFromScenario(scEntry);
- attach(aircraft);
-
- } else if (type == "ship") {
- FGAIShip* ship = new FGAIShip;
- ship->readFromScenario(scEntry);
- attach(ship);
-
- } else if (type == "carrier") {
- FGAICarrier* carrier = new FGAICarrier;
- carrier->readFromScenario(scEntry);
- attach(carrier);
-
- } else if (type == "thunderstorm") {
- FGAIStorm* storm = new FGAIStorm;
- storm->readFromScenario(scEntry);
- attach(storm);
-
- } else if (type == "thermal") {
- FGAIThermal* thermal = new FGAIThermal;
- thermal->readFromScenario(scEntry);
- attach(thermal);
-
- } else if (type == "ballistic") {
- FGAIBallistic* ballistic = new FGAIBallistic;
- ballistic->readFromScenario(scEntry);
- attach(ballistic);
-
- } else if (type == "static") {
- FGAIStatic* aistatic = new FGAIStatic;
- aistatic->readFromScenario(scEntry);
- attach(aistatic);
-
+
+void
+FGAIManager::processScenario( const string &filename ) {
+
+ SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
+
+ if (!scenarioTop)
+ return;
+
+ SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
+
+ if (!scenarios)
+ return;
+
+ for (int i = 0; i < scenarios->nChildren(); i++) {
+ SGPropertyNode* scEntry = scenarios->getChild(i);
+
+ if (strcmp(scEntry->getName(), "entry"))
+ continue;
+ std::string type = scEntry->getStringValue("type", "aircraft");
+
+ if (type == "tanker") { // refueling scenarios
+ FGAITanker* tanker = new FGAITanker;
+ tanker->readFromScenario(scEntry);
+ attach(tanker);
+
+ } else if (type == "wingman") {
+ FGAIWingman* wingman = new FGAIWingman;
+ wingman->readFromScenario(scEntry);
+ attach(wingman);
+
+ } else if (type == "aircraft") {
+ FGAIAircraft* aircraft = new FGAIAircraft;
+ aircraft->readFromScenario(scEntry);
+ attach(aircraft);
+
+ } else if (type == "ship") {
+ FGAIShip* ship = new FGAIShip;
+ ship->readFromScenario(scEntry);
+ attach(ship);
+
+ } else if (type == "carrier") {
+ FGAICarrier* carrier = new FGAICarrier;
+ carrier->readFromScenario(scEntry);
+ attach(carrier);
+
+ } else if (type == "groundvehicle") {
+ FGAIGroundVehicle* groundvehicle = new FGAIGroundVehicle;
+ groundvehicle->readFromScenario(scEntry);
+ attach(groundvehicle);
+
+ } else if (type == "escort") {
+ FGAIEscort* escort = new FGAIEscort;
+ escort->readFromScenario(scEntry);
+ attach(escort);
+
+ } else if (type == "thunderstorm") {
+ FGAIStorm* storm = new FGAIStorm;
+ storm->readFromScenario(scEntry);
+ attach(storm);
+
+ } else if (type == "thermal") {
+ FGAIThermal* thermal = new FGAIThermal;
+ thermal->readFromScenario(scEntry);
+ attach(thermal);
+
+ } else if (type == "ballistic") {
+ FGAIBallistic* ballistic = new FGAIBallistic;
+ ballistic->readFromScenario(scEntry);
+ attach(ballistic);
+
+ } else if (type == "static") {
+ FGAIStatic* aistatic = new FGAIStatic;
+ aistatic->readFromScenario(scEntry);
+ attach(aistatic);
+ }
+
}
- }
+
}
SGPropertyNode_ptr
FGAIManager::loadScenarioFile(const std::string& filename)
{
- SGPath path(globals->get_fg_root());
- path.append("AI/" + filename + ".xml");
- try {
- SGPropertyNode_ptr root = new SGPropertyNode;
- readProperties(path.str(), root);
- return root;
- } catch (const sg_exception &e) {
- SG_LOG(SG_GENERAL, SG_ALERT, "Incorrect path specified for AI "
- "scenario: \"" << path.str() << "\"");
- return 0;
- }
+ SGPath path(globals->get_fg_root());
+ path.append("AI/" + filename + ".xml");
+ try {
+ SGPropertyNode_ptr root = new SGPropertyNode;
+ readProperties(path.str(), root);
+ return root;
+ } catch (const sg_exception &) {
+ SG_LOG(SG_GENERAL, SG_DEBUG, "Incorrect path specified for AI "
+ "scenario: \"" << path.str() << "\"");
+ return 0;
+ }
}
-bool FGAIManager::getStartPosition(const string& id, const string& pid,
- SGGeod& geodPos, double& hdng, SGVec3d& uvw)
+bool
+FGAIManager::getStartPosition(const string& id, const string& pid,
+ SGGeod& geodPos, double& hdng, SGVec3d& uvw)
{
- bool found = false;
- SGPropertyNode* root = fgGetNode("sim/ai", true);
- if (!root->getNode("enabled", true)->getBoolValue())
- return found;
-
- for(int i = 0 ; (!found) && i < root->nChildren() ; i++) {
- SGPropertyNode *aiEntry = root->getChild( i );
- if( !strcmp( aiEntry->getName(), "scenario" ) ) {
- string filename = aiEntry->getStringValue();
- SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
- if (scenarioTop) {
- SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
- if (scenarios) {
- for (int i = 0; i < scenarios->nChildren(); i++) {
- SGPropertyNode* scEntry = scenarios->getChild(i);
- std::string type = scEntry->getStringValue("type");
- std::string pnumber = scEntry->getStringValue("pennant-number");
- std::string name = scEntry->getStringValue("name");
- if (type == "carrier" && (pnumber == id || name == id)) {
- SGSharedPtr<FGAICarrier> carrier = new FGAICarrier;
- carrier->readFromScenario(scEntry);
-
- if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
- found = true;
- break;
- }
+ bool found = false;
+ SGPropertyNode* root = fgGetNode("sim/ai", true);
+ if (!root->getNode("enabled", true)->getBoolValue())
+ return found;
+
+ for (int i = 0 ; (!found) && i < root->nChildren() ; i++) {
+ SGPropertyNode *aiEntry = root->getChild( i );
+ if ( !strcmp( aiEntry->getName(), "scenario" ) ) {
+ string filename = aiEntry->getStringValue();
+ SGPropertyNode_ptr scenarioTop = loadScenarioFile(filename);
+ if (scenarioTop) {
+ SGPropertyNode* scenarios = scenarioTop->getChild("scenario");
+ if (scenarios) {
+ for (int i = 0; i < scenarios->nChildren(); i++) {
+ SGPropertyNode* scEntry = scenarios->getChild(i);
+ std::string type = scEntry->getStringValue("type");
+ std::string pnumber = scEntry->getStringValue("pennant-number");
+ std::string name = scEntry->getStringValue("name");
+ if (type == "carrier" && (pnumber == id || name == id)) {
+ SGSharedPtr<FGAICarrier> carrier = new FGAICarrier;
+ carrier->readFromScenario(scEntry);
+
+ if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
+ found = true;
+ break;
+ }
+ }
+ }
+ }
}
- }
}
- }
}
- }
- return found;
+ return found;
+}
+
+const FGAIBase *
+FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range)
+{
+ // we specify tgt extent (ft) according to the AIObject type
+ double tgt_ht[] = {0, 50, 100, 250, 0, 100, 0, 0, 50, 50, 20, 100, 50};
+ double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 40, 200, 100};
+ ai_list_iterator ai_list_itr = ai_list.begin();
+ ai_list_iterator end = ai_list.end();
+
+ while (ai_list_itr != end) {
+ double tgt_alt = (*ai_list_itr)->_getAltitude();
+ int type = (*ai_list_itr)->getType();
+ tgt_ht[type] += fuse_range;
+
+ if (fabs(tgt_alt - alt) > tgt_ht[type] || type == FGAIBase::otBallistic
+ || type == FGAIBase::otStorm || type == FGAIBase::otThermal ) {
+ //SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: skipping "
+ // << fabs(tgt_alt - alt)
+ // << " "
+ // << type
+ // );
+ ++ai_list_itr;
+ continue;
+ }
+
+ double tgt_lat = (*ai_list_itr)->_getLatitude();
+ double tgt_lon = (*ai_list_itr)->_getLongitude();
+ int id = (*ai_list_itr)->getID();
+
+ double range = calcRange(lat, lon, tgt_lat, tgt_lon);
+
+ //SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: AI list size "
+ // << ai_list.size()
+ // << " type " << type
+ // << " ID " << id
+ // << " range " << range
+ // //<< " bearing " << bearing
+ // << " alt " << tgt_alt
+ // );
+
+ tgt_length[type] += fuse_range;
+
+ if (range < tgt_length[type]){
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: HIT! "
+ << " type " << type
+ << " ID " << id
+ << " range " << range
+ << " alt " << tgt_alt
+ );
+ return (*ai_list_itr).get();
+ }
+ ++ai_list_itr;
+ }
+ return 0;
+}
+
+double
+FGAIManager::calcRange(double lat, double lon, double lat2, double lon2) const
+{
+ double course, az2, distance;
+
+ //calculate the bearing and range of the second pos from the first
+ geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
+ distance *= SG_METER_TO_FEET;
+ return distance;
}
//end AIManager.cxx
projects / flightgear.git / blobdiff