Overhaul the ground-net / parking code.

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

diff --git a/src/AIModel/AIMultiplayer.cxx b/src/AIModel/AIMultiplayer.cxx
index 0652dfef73751daf52f67997d72028ef2e6ad916..0b73c9ba4d7eb1874fd1972d877a9d3acd6c27ca 100644 (file)
--- a/src/AIModel/AIMultiplayer.cxx
+++ b/src/AIModel/AIMultiplayer.cxx
@@ -29,21 +29,21 @@
 
 #include "AIMultiplayer.hxx"
 
-#include <simgear/scene/util/SGNodeMasks.hxx>
 
 // #define SG_DEBUG SG_ALERT
 
-FGAIMultiplayer::FGAIMultiplayer() : FGAIBase(otMultiplayer) {
+FGAIMultiplayer::FGAIMultiplayer() :
+   FGAIBase(otMultiplayer, false)
+{
    no_roll = false;
 
    mTimeOffsetSet = false;
    mAllowExtrapolation = true;
    mLagAdjustSystemSpeed = 10;
+   mLastTimestamp = 0;
+   lastUpdateTime = 0;
 
-   aip.getSceneGraph()->setNodeMask(~SG_NODEMASK_TERRAIN_BIT);
-
-}
-
+} 
 
 FGAIMultiplayer::~FGAIMultiplayer() {
 }
@@ -74,10 +74,10 @@ bool FGAIMultiplayer::init(bool search_in_AI_path) {
 void FGAIMultiplayer::bind() {
     FGAIBase::bind();
 
-    props->tie("refuel/contact", SGRawValuePointer<bool>(&contact));
-    props->tie("tanker", SGRawValuePointer<bool>(&isTanker));
+    tie("refuel/contact", SGRawValuePointer<bool>(&contact));
+    tie("tanker", SGRawValuePointer<bool>(&isTanker));
 
-    props->tie("controls/invisible",
+    tie("controls/invisible",
         SGRawValuePointer<bool>(&invisible));
 
 #define AIMPROProp(type, name) \
@@ -87,30 +87,18 @@ SGRawValueMethods<FGAIMultiplayer, type>(*this, &FGAIMultiplayer::get##name)
 SGRawValueMethods<FGAIMultiplayer, type>(*this, \
       &FGAIMultiplayer::get##name, &FGAIMultiplayer::set##name)
 
-    //props->tie("callsign", AIMPROProp(const char *, CallSign));
+    //tie("callsign", AIMPROProp(const char *, CallSign));
 
-    props->tie("controls/allow-extrapolation",
-               AIMPRWProp(bool, AllowExtrapolation));
-    props->tie("controls/lag-adjust-system-speed",
-               AIMPRWProp(double, LagAdjustSystemSpeed));
+    tie("controls/allow-extrapolation",
+        AIMPRWProp(bool, AllowExtrapolation));
+    tie("controls/lag-adjust-system-speed",
+        AIMPRWProp(double, LagAdjustSystemSpeed));
 
 
 #undef AIMPROProp
 #undef AIMPRWProp
 }
 
-void FGAIMultiplayer::unbind() {
-    FGAIBase::unbind();
-
-    //props->untie("callsign");
-    props->untie("controls/allow-extrapolation");
-    props->untie("controls/lag-adjust-system-speed");
-    props->untie("controls/invisible");
-    props->untie("refuel/contact");
-    props->untie("tanker");
-
-}
-
 void FGAIMultiplayer::update(double dt)
 {
   using namespace simgear;
@@ -151,7 +139,7 @@ void FGAIMultiplayer::update(double dt)
     if ((!mAllowExtrapolation && offset + lag < mTimeOffset)
         || (offset - 10 > mTimeOffset)) {
       mTimeOffset = offset;
-      SG_LOG(SG_GENERAL, SG_DEBUG, "Resetting time offset adjust system to "
+      SG_LOG(SG_AI, SG_DEBUG, "Resetting time offset adjust system to "
              "avoid extrapolation: time offset = " << mTimeOffset);
     } else {
       // the error of the offset, respectively the negative error to avoid
@@ -178,7 +166,7 @@ void FGAIMultiplayer::update(double dt)
         systemIncrement = err;
       mTimeOffset += systemIncrement;
       
-      SG_LOG(SG_GENERAL, SG_DEBUG, "Offset adjust system: time offset = "
+      SG_LOG(SG_AI, SG_DEBUG, "Offset adjust system: time offset = "
              << mTimeOffset << ", expected longitudinal position error due to "
              " current adjustment of the offset: "
              << fabs(norm(it->second.linearVel)*systemIncrement));
@@ -200,7 +188,7 @@ void FGAIMultiplayer::update(double dt)
     // Find the first packet before the target time
     MotionInfo::iterator nextIt = mMotionInfo.upper_bound(tInterp);
     if (nextIt == mMotionInfo.begin()) {
-      SG_LOG(SG_GENERAL, SG_DEBUG, "Taking oldest packet!");
+      SG_LOG(SG_AI, SG_DEBUG, "Taking oldest packet!");
       // We have no packet before the target time, just use the first one
       MotionInfo::iterator firstIt = mMotionInfo.begin();
       ecPos = firstIt->second.position;
@@ -243,7 +231,7 @@ void FGAIMultiplayer::update(double dt)
         }
         else
         {
-          SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n");
+          SG_LOG(SG_AI, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n");
         }
         ++firstPropIt;
       }
@@ -260,7 +248,7 @@ void FGAIMultiplayer::update(double dt)
       double intervalLen = intervalEnd - intervalStart;
       double tau = (tInterp - intervalStart)/intervalLen;
 
-      SG_LOG(SG_GENERAL, SG_DEBUG, "Multiplayer vehicle interpolation: ["
+      SG_LOG(SG_AI, SG_DEBUG, "Multiplayer vehicle interpolation: ["
              << intervalStart << ", " << intervalEnd << "], intervalLen = "
              << intervalLen << ", interpolation parameter = " << tau);
 
@@ -323,7 +311,7 @@ void FGAIMultiplayer::update(double dt)
           }
           else
           {
-            SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*prevPropIt)->id << "\n");
+            SG_LOG(SG_AI, SG_DEBUG, "Unable to find property: " << (*prevPropIt)->id << "\n");
           }
           
           ++prevPropIt;
@@ -347,7 +335,7 @@ void FGAIMultiplayer::update(double dt)
     double t = tInterp - motionInfo.time;
     t = SGMisc<double>::min(t, 5);
 
-    SG_LOG(SG_GENERAL, SG_DEBUG, "Multiplayer vehicle extrapolation: "
+    SG_LOG(SG_AI, SG_DEBUG, "Multiplayer vehicle extrapolation: "
            "extrapolation time = " << t);
 
     // Do a few explicit euler steps with the constant acceleration's
@@ -408,7 +396,7 @@ void FGAIMultiplayer::update(double dt)
       }
       else
       {
-        SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n");
+        SG_LOG(SG_AI, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n");
       }
       
       ++firstPropIt;
@@ -417,8 +405,21 @@ void FGAIMultiplayer::update(double dt)
   
   // extract the position
   pos = SGGeod::fromCart(ecPos);
+  double recent_alt_ft = altitude_ft;
   altitude_ft = pos.getElevationFt();
 
+  // expose a valid vertical speed
+  if (lastUpdateTime != 0)
+  {
+      double dT = curtime - lastUpdateTime;
+      double Weighting=1;
+      if (dt < 1.0)
+          Weighting = dt;
+      // simple smoothing over 1 second
+      vs = (1.0-Weighting)*vs +  Weighting * (altitude_ft - recent_alt_ft) / dT * 60;
+  }
+  lastUpdateTime = curtime;
+
   // The quaternion rotating from the earth centered frame to the
   // horizontal local frame
   SGQuatf qEc2Hl = SGQuatf::fromLonLatRad((float)pos.getLongitudeRad(),
@@ -431,7 +432,7 @@ void FGAIMultiplayer::update(double dt)
   roll = rDeg;
   pitch = pDeg;
 
-  SG_LOG(SG_GENERAL, SG_DEBUG, "Multiplayer position and orientation: "
+  SG_LOG(SG_AI, SG_DEBUG, "Multiplayer position and orientation: "
          << ecPos << ", " << hlOr);
 
   //###########################//