#include "AIAircraft.hxx"
#include "AIShip.hxx"
#include "AIBallistic.hxx"
+#include "AIStorm.hxx"
+#include "AIThermal.hxx"
SG_USING_STD(list);
FGAIManager::FGAIManager() {
initDone = false;
+ numObjects = 0;
+ _dt = 0.0;
+ dt_count = 9;
}
FGAIManager::~FGAIManager() {
+ ai_list_itr = ai_list.begin();
+ while(ai_list_itr != ai_list.end()) {
+ delete (*ai_list_itr);
+ ++ai_list_itr;
+ }
ai_list.clear();
+ ids.clear();
}
+
void FGAIManager::init() {
- SGPropertyNode * node = fgGetNode("sim/ai", true);
+ int rval;
+ root = fgGetNode("sim/ai", true);
+ wind_from_down = fgGetNode("/environment/wind-from-down-fps", true);
- for (int i = 0; i < node->nChildren(); i++) {
- const SGPropertyNode * entry = node->getChild(i);
+ for (int i = 0; i < root->nChildren(); i++) {
+ const SGPropertyNode * entry = root->getChild(i);
if (!strcmp(entry->getName(), "entry")) {
if (!strcmp(entry->getStringValue("type", ""), "aircraft")) {
- FGAIAircraft* ai_plane = new FGAIAircraft;
- ai_list.push_back(ai_plane);
- string model_class = entry->getStringValue("class", "");
- if (model_class == "light") {
- ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
+ rval = createAircraft( entry->getStringValue("class", ""),
+ entry->getStringValue("path"),
+ entry->getDoubleValue("latitude"),
+ entry->getDoubleValue("longitude"),
+ entry->getDoubleValue("altitude-ft"),
+ entry->getDoubleValue("heading"),
+ entry->getDoubleValue("speed-KTAS"),
+ 0.0,
+ entry->getDoubleValue("bank") );
- } else if (model_class == "ww2_fighter") {
- ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
+ } else if (!strcmp(entry->getStringValue("type", ""), "ship")) {
- } else if (model_class == "jet_transport") {
- ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
+ rval = createShip( entry->getStringValue("path"),
+ entry->getDoubleValue("latitude"),
+ entry->getDoubleValue("longitude"),
+ entry->getDoubleValue("altitude-ft"),
+ entry->getDoubleValue("heading"),
+ entry->getDoubleValue("speed-KTAS"),
+ entry->getDoubleValue("rudder") );
- } else if (model_class == "jet_fighter") {
- ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
- }
+ } else if (!strcmp(entry->getStringValue("type", ""), "ballistic")) {
- ai_plane->setHeading(entry->getDoubleValue("heading"));
- ai_plane->setSpeed(entry->getDoubleValue("speed-KTAS"));
- ai_plane->setPath(entry->getStringValue("path"));
- ai_plane->setAltitude(entry->getDoubleValue("altitude-ft"));
- ai_plane->setLongitude(entry->getDoubleValue("longitude"));
- ai_plane->setLatitude(entry->getDoubleValue("latitude"));
- ai_plane->init();
+ rval = createBallistic( entry->getStringValue("path"),
+ entry->getDoubleValue("latitude"),
+ entry->getDoubleValue("longitude"),
+ entry->getDoubleValue("altitude-ft"),
+ entry->getDoubleValue("azimuth"),
+ entry->getDoubleValue("elevation"),
+ entry->getDoubleValue("speed") );
- } else if (!strcmp(entry->getStringValue("type", ""), "ship")) {
- FGAIShip* ai_ship = new FGAIShip;
- ai_list.push_back(ai_ship);
- ai_ship->setHeading(entry->getDoubleValue("heading"));
- ai_ship->setSpeed(entry->getDoubleValue("speed-KTAS"));
- ai_ship->setPath(entry->getStringValue("path"));
- ai_ship->setAltitude(entry->getDoubleValue("altitude-ft"));
- ai_ship->setLongitude(entry->getDoubleValue("longitude"));
- ai_ship->setLatitude(entry->getDoubleValue("latitude"));
- ai_ship->init();
+ } else if (!strcmp(entry->getStringValue("type", ""), "storm")) {
- } else if (!strcmp(entry->getStringValue("type", ""), "ballistic")) {
- FGAIBallistic* ai_ballistic = new FGAIBallistic;
- ai_list.push_back(ai_ballistic);
- ai_ballistic->setAzimuth(entry->getDoubleValue("azimuth"));
- ai_ballistic->setElevation(entry->getDoubleValue("elevation"));
- ai_ballistic->setSpeed(entry->getDoubleValue("speed-fps"));
- ai_ballistic->setPath(entry->getStringValue("path"));
- ai_ballistic->setAltitude(entry->getDoubleValue("altitude-ft"));
- ai_ballistic->setLongitude(entry->getDoubleValue("longitude"));
- ai_ballistic->setLatitude(entry->getDoubleValue("latitude"));
- ai_ballistic->init();
- }
+ rval = createStorm( entry->getStringValue("path"),
+ entry->getDoubleValue("latitude"),
+ entry->getDoubleValue("longitude"),
+ entry->getDoubleValue("altitude-ft"),
+ entry->getDoubleValue("heading"),
+ entry->getDoubleValue("speed-KTAS") );
+
+ } else if (!strcmp(entry->getStringValue("type", ""), "thermal")) {
+
+ rval = createThermal( entry->getDoubleValue("latitude"),
+ entry->getDoubleValue("longitude"),
+ entry->getDoubleValue("strength-fps"),
+ entry->getDoubleValue("diameter-ft") );
+
+ }
}
}
void FGAIManager::bind() {
+ root = globals->get_props()->getNode("ai/models", true);
+ root->tie("count", SGRawValuePointer<int>(&numObjects));
}
void FGAIManager::unbind() {
+ root->untie("count");
}
void FGAIManager::update(double dt) {
-#if 0
- if(!initDone) {
- init();
- SG_LOG(SG_ATC, SG_WARN, "Warning - AIManager::update(...) called before AIManager::init()");
- }
-#endif
-
+
+ // initialize these for finding nearest thermals
+ range_nearest = 10000.0;
+ strength = 0.0;
+
+ _dt = dt;
+
ai_list_itr = ai_list.begin();
while(ai_list_itr != ai_list.end()) {
- if ((*ai_list_itr)->getDie()) {
- ai_list.erase(ai_list_itr, ai_list_itr);
+ if ((*ai_list_itr)->getDie()) {
+ freeID((*ai_list_itr)->getID());
+ delete (*ai_list_itr);
+ ai_list.erase(ai_list_itr);
+ --ai_list_itr;
+ --numObjects;
} else {
- (*ai_list_itr)->update(dt);
+ fetchUserState();
+ if ((*ai_list_itr)->isa(FGAIBase::otThermal)) {
+ processThermal((FGAIThermal*)*ai_list_itr);
+ } else {
+ (*ai_list_itr)->update(_dt);
+ }
}
++ai_list_itr;
}
+ wind_from_down->setDoubleValue( strength );
+}
+
+
+// This function returns the next available ID
+int FGAIManager::assignID() {
+ int maxint = 30000;
+ int x;
+ bool used;
+ for (x=0; x<maxint; x++) {
+ used = false;
+ id_itr = ids.begin();
+ while( id_itr != ids.end() ) {
+ if ((*id_itr) == x) used = true;
+ ++id_itr;
+ }
+ if (!used) {
+ ids.push_back(x);
+ return x;
+ }
+ }
+ return -1; // no available ID's
+}
+
+
+// This function removes an ID from the ID array, making it
+// available for assignment to another AI object
+void FGAIManager::freeID( int ID ) {
+ id_itr = ids.begin();
+ while( id_itr != ids.end() ) {
+ if (*id_itr == ID) {
+ ids.erase( id_itr );
+ return;
+ }
+ ++id_itr;
+ }
+}
+
+int FGAIManager::createAircraft( string model_class, string path,
+ double latitude, double longitude, double altitude,
+ double heading, double speed, double pitch, double roll ) {
+
+ FGAIAircraft* ai_plane = new FGAIAircraft(this);
+ ai_list.push_back(ai_plane);
+ ai_plane->setID( assignID() );
+ ++numObjects;
+ if (model_class == "light") {
+ ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
+ } else if (model_class == "ww2_fighter") {
+ ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
+ } else if (model_class == "jet_transport") {
+ ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
+ } else if (model_class == "jet_fighter") {
+ ai_plane->SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
+ }
+ ai_plane->setHeading(heading);
+ ai_plane->setSpeed(speed);
+ ai_plane->setPath(path.c_str());
+ ai_plane->setAltitude(altitude);
+ ai_plane->setLongitude(longitude);
+ ai_plane->setLatitude(latitude);
+ ai_plane->setBank(roll);
+ ai_plane->init();
+ ai_plane->bind();
+ return ai_plane->getID();
+}
+
+
+int FGAIManager::createShip( string path, double latitude, double longitude,
+ double altitude, double heading, double speed,
+ double rudder ) {
+
+ FGAIShip* ai_ship = new FGAIShip(this);
+ ai_list.push_back(ai_ship);
+ ai_ship->setID( assignID() );
+ ++numObjects;
+ ai_ship->setHeading(heading);
+ ai_ship->setSpeed(speed);
+ ai_ship->setPath(path.c_str());
+ ai_ship->setAltitude(altitude);
+ ai_ship->setLongitude(longitude);
+ ai_ship->setLatitude(latitude);
+ ai_ship->setBank(rudder);
+ ai_ship->init();
+ ai_ship->bind();
+ return ai_ship->getID();
+}
+
+
+int FGAIManager::createBallistic( string path, double latitude, double longitude,
+ double altitude, double azimuth, double elevation,
+ double speed ) {
+
+ FGAIBallistic* ai_ballistic = new FGAIBallistic(this);
+ ai_list.push_back(ai_ballistic);
+ ai_ballistic->setID( assignID() );
+ ++numObjects;
+ ai_ballistic->setAzimuth(azimuth);
+ ai_ballistic->setElevation(elevation);
+ ai_ballistic->setSpeed(speed);
+ ai_ballistic->setPath(path.c_str());
+ ai_ballistic->setAltitude(altitude);
+ ai_ballistic->setLongitude(longitude);
+ ai_ballistic->setLatitude(latitude);
+ ai_ballistic->init();
+ ai_ballistic->bind();
+ return ai_ballistic->getID();
+}
+
+int FGAIManager::createStorm( string path, double latitude, double longitude,
+ double altitude, double heading, double speed ) {
+
+ FGAIStorm* ai_storm = new FGAIStorm(this);
+ ai_list.push_back(ai_storm);
+ ai_storm->setID( assignID() );
+ ++numObjects;
+ ai_storm->setHeading(heading);
+ ai_storm->setSpeed(speed);
+ ai_storm->setPath(path.c_str());
+ ai_storm->setAltitude(altitude);
+ ai_storm->setLongitude(longitude);
+ ai_storm->setLatitude(latitude);
+ ai_storm->init();
+ ai_storm->bind();
+ return ai_storm->getID();
+}
+
+int FGAIManager::createThermal( double latitude, double longitude,
+ double strength, double diameter ) {
+
+ FGAIThermal* ai_thermal = new FGAIThermal(this);
+ ai_list.push_back(ai_thermal);
+ ai_thermal->setID( assignID() );
+ ++numObjects;
+ ai_thermal->setLongitude(longitude);
+ ai_thermal->setLatitude(latitude);
+ ai_thermal->setMaxStrength(strength);
+ ai_thermal->setDiameter(diameter / 6076.11549);
+ ai_thermal->init();
+ ai_thermal->bind();
+ return ai_thermal->getID();
+}
+
+void FGAIManager::destroyObject( int ID ) {
+ ai_list_itr = ai_list.begin();
+ while(ai_list_itr != ai_list.end()) {
+ if ((*ai_list_itr)->getID() == ID) {
+ freeID( ID );
+ delete (*ai_list_itr);
+ ai_list.erase(ai_list_itr);
+ --ai_list_itr;
+ --numObjects;
+ return;
+ }
+ ++ai_list_itr;
+ }
+}
+
+// fetch the user's state every 10 sim cycles
+void FGAIManager::fetchUserState( void ) {
+ ++dt_count;
+ if (dt_count == 10) {
+ user_latitude = fgGetDouble("/position/latitude-deg");
+ user_longitude = fgGetDouble("/position/longitude-deg");
+ user_altitude = fgGetDouble("/position/altitude-ft");
+ user_heading = fgGetDouble("/orientation/heading-deg");
+ user_pitch = fgGetDouble("/orientation/pitch-deg");
+ user_yaw = fgGetDouble("/orientation/side-slip-deg");
+ user_speed = fgGetDouble("/velocities/uBody-fps") * 0.592484;
+ dt_count = 0;
+ }
+}
+
+
+// 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();
+ }
}
projects / flightgear.git / blobdiff