Add a small bit of nan/fpe protection. It's possible that this routine

[flightgear.git] / src / AIModel / AIManager.cxx

diff --git a/src/AIModel/AIManager.cxx b/src/AIModel/AIManager.cxx
index 9813b9dc25f768542f0378e344e5e2850d34c564..4190981124242bea13257c082babf70a59c18b60 100644 (file)
--- a/src/AIModel/AIManager.cxx
+++ b/src/AIModel/AIManager.cxx
@@ -2,7 +2,7 @@
 // - 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
@@ -18,6 +18,8 @@
 // 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>
@@ -39,6 +41,7 @@
 #include "AITanker.hxx"
 #include "AIWingman.hxx"
 #include "AIGroundVehicle.hxx"
+#include "AIEscort.hxx"
 
 FGAIManager::FGAIManager() {
     _dt = 0.0;
@@ -73,6 +76,7 @@ FGAIManager::init() {
     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);
@@ -94,7 +98,7 @@ FGAIManager::postinit() {
             continue;
 
         if (scenarios.find(name) != scenarios.end()) {
-            SG_LOG(SG_GENERAL, SG_WARN, "won't load scenario '" << name << "' twice");
+            SG_LOG(SG_GENERAL, SG_DEBUG, "won't load scenario '" << name << "' twice");
             continue;
         }
 
@@ -107,6 +111,7 @@ FGAIManager::postinit() {
 void
 FGAIManager::reinit() {
     update(0.0);
+
     ai_list_iterator ai_list_itr = ai_list.begin();
 
     while(ai_list_itr != ai_list.end()) {
@@ -235,6 +240,7 @@ FGAIManager::getNumAiObjects(void) const
 
 void
 FGAIManager::fetchUserState( void ) {
+
     user_latitude  = user_latitude_node->getDoubleValue();
     user_longitude = user_longitude_node->getDoubleValue();
     user_altitude  = user_altitude_node->getDoubleValue();
@@ -244,7 +250,9 @@ FGAIManager::fetchUserState( void ) {
     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();
+    wind_from_north   = wind_from_north_node->getDoubleValue();
+    user_altitude_agl = user_altitude_agl_node->getDoubleValue();
+
 }
 
 // only keep the results from the nearest thermal
@@ -311,6 +319,11 @@ FGAIManager::processScenario( const string &filename ) {
             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);
@@ -375,7 +388,7 @@ FGAIManager::getStartPosition(const string& id, const string& pid,
                         std::string pnumber = scEntry->getStringValue("pennant-number");
                         std::string name = scEntry->getStringValue("name");
                         if (type == "carrier" && (pnumber == id || name == id)) {
-                            osg::ref_ptr<FGAICarrier> carrier = new FGAICarrier;
+                            SGSharedPtr<FGAICarrier> carrier = new FGAICarrier;
                             carrier->readFromScenario(scEntry);
 
                             if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {
@@ -395,8 +408,8 @@ 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, 50};
-    double tgt_length[] = {0, 100, 200, 750, 0, 50, 0, 0, 200, 100, 100};
+    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();
 
@@ -407,11 +420,11 @@ FGAIManager::calcCollision(double alt, double lat, double lon, double 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
-                    );
+                //SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: skipping "
+                //    << fabs(tgt_alt - alt)
+                //    << " "
+                //    << type
+                //    );
                 ++ai_list_itr;
                 continue;
         }
@@ -422,14 +435,14 @@ FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range
 
         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
-            );
+        //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;