Use an SGGeod inside FGAIFlightPlan::Waypoint.

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

diff --git a/src/AIModel/AIManager.cxx b/src/AIModel/AIManager.cxx
index ed4f4a5345e5bb53563b12132e2e100316c484b0..c5ea283fc56c6eacf30b25ac7309dd2923900329 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>
@@ -41,7 +43,12 @@
 #include "AIGroundVehicle.hxx"
 #include "AIEscort.hxx"
 
-FGAIManager::FGAIManager() {
+FGAIManager::FGAIManager() :
+    cb_ai_bare(SGPropertyChangeCallback<FGAIManager>(this,&FGAIManager::updateLOD,
+               fgGetNode("/sim/rendering/static-lod/ai-bare", true))),
+    cb_ai_detailed(SGPropertyChangeCallback<FGAIManager>(this,&FGAIManager::updateLOD,
+                   fgGetNode("/sim/rendering/static-lod/ai-detailed", true)))
+{
     _dt = 0.0;
     mNumAiModels = 0;
 
@@ -62,10 +69,7 @@ void
 FGAIManager::init() {
     root = fgGetNode("sim/ai", true);
 
-    enabled = root->getNode("enabled", true)->getBoolValue();
-
-    if (!enabled)
-        return;
+    enabled = root->getNode("enabled", true);
 
     thermal_lift_node = fgGetNode("/environment/thermal-lift-fps", true);
     wind_from_east_node  = fgGetNode("/environment/wind-from-east-fps",true);
@@ -74,6 +78,7 @@ 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);
@@ -84,6 +89,15 @@ FGAIManager::init() {
 void
 FGAIManager::postinit() {
     // postinit, so that it can access the Nasal subsystem
+
+    if (!root->getBoolValue("scenarios-enabled", true))
+        return;
+
+    // scenarios enabled, AI subsystem required
+    if (!enabled->getBoolValue())
+        enabled->setBoolValue(true);
+
+    // process all scenarios
     map<string, bool> scenarios;
     for (int i = 0 ; i < root->nChildren() ; i++) {
         SGPropertyNode *n = root->getChild(i);
@@ -95,11 +109,11 @@ FGAIManager::postinit() {
             continue;
 
         if (scenarios.find(name) != scenarios.end()) {
-            SG_LOG(SG_GENERAL, SG_WARN, "won't load scenario '" << name << "' twice");
+            SG_LOG(SG_AI, SG_DEBUG, "won't load scenario '" << name << "' twice");
             continue;
         }
 
-        SG_LOG(SG_GENERAL, SG_ALERT, "loading scenario '" << name << '\'');
+        SG_LOG(SG_AI, SG_ALERT, "loading scenario '" << name << '\'');
         processScenario(name);
         scenarios[name] = true;
     }
@@ -108,6 +122,7 @@ FGAIManager::postinit() {
 void
 FGAIManager::reinit() {
     update(0.0);
+
     ai_list_iterator ai_list_itr = ai_list.begin();
 
     while(ai_list_itr != ai_list.end()) {
@@ -134,10 +149,10 @@ FGAIManager::update(double dt) {
     range_nearest = 10000.0;
     strength = 0.0;
 
-    if (!enabled)
+    if (!enabled->getBoolValue())
         return;
 
-    FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("Traffic Manager");
+    FGTrafficManager *tmgr = (FGTrafficManager*) globals->get_subsystem("traffic-manager");
     _dt = dt;
 
     ai_list_iterator ai_list_itr = ai_list.begin();
@@ -177,6 +192,18 @@ FGAIManager::update(double dt) {
     thermal_lift_node->setDoubleValue( strength );  // for thermals
 }
 
+/** update LOD settings of all AI/MP models */
+void
+FGAIManager::updateLOD(SGPropertyNode* node)
+{
+    ai_list_iterator ai_list_itr = ai_list.begin();
+    while(ai_list_itr != ai_list.end())
+    {
+        (*ai_list_itr)->updateLOD();
+        ++ai_list_itr;
+    }
+}
+
 void
 FGAIManager::attach(FGAIBase *model)
 {
@@ -236,6 +263,7 @@ 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();
@@ -245,7 +273,9 @@ 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
@@ -351,9 +381,9 @@ FGAIManager::loadScenarioFile(const std::string& filename)
         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() << "\"");
+    } catch (const sg_exception &t) {
+        SG_LOG(SG_AI, SG_ALERT, "Failed to load scenario '"
+            << path.str() << "': " << t.getFormattedMessage());
         return 0;
     }
 }
@@ -381,7 +411,7 @@ 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)) {
@@ -413,7 +443,7 @@ 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 "
+                //SG_LOG(SG_AI, SG_DEBUG, "AIManager: skipping "
                 //    << fabs(tgt_alt - alt)
                 //    << " "
                 //    << type
@@ -428,7 +458,7 @@ 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 "
+        //SG_LOG(SG_AI, SG_DEBUG, "AIManager:  AI list size "
         //    << ai_list.size()
         //    << " type " << type
         //    << " ID " << id
@@ -440,7 +470,7 @@ FGAIManager::calcCollision(double alt, double lat, double lon, double fuse_range
         tgt_length[type] += fuse_range;
 
         if (range < tgt_length[type]){
-            SG_LOG(SG_GENERAL, SG_DEBUG, "AIManager: HIT! "
+            SG_LOG(SG_AI, SG_DEBUG, "AIManager: HIT! "
                 << " type " << type
                 << " ID " << id
                 << " range " << range