FGAIShip::FGAIShip(object_type ot) :
FGAIBase(ot),
-_limit(40),
+_limit(100),
_elevation_m(0),
_elevation_ft(0),
_tow_angle(0),
_lead_angle(0),
_xtrack_error(0),
_tunnel(false),
+_initial_tunnel(false),
_curr_alt(0),
_prev_alt(0),
_until_time(""),
_range_rate(0),
_roll_constant(0.001),
_hdg_constant(0.01),
-_roll_factor(-0.0083335)
+_roll_factor(-0.0083335),
+_restart(false)
{
invisible = false;
setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
std::string flightplan = scFileNode->getStringValue("flightplan");
setRepeat(scFileNode->getBoolValue("repeat", false));
+ setRestart(scFileNode->getBoolValue("restart", false));
setStartTime(scFileNode->getStringValue("time", ""));
setLeadAngleGain(scFileNode->getDoubleValue("lead-angle-gain", 1.5));
setLeadAngleLimit(scFileNode->getDoubleValue("lead-angle-limit-deg", 15));
setRudderConstant(scFileNode->getDoubleValue("rudder-constant", 0.5));
setFixedTurnRadius(scFileNode->getDoubleValue("fixed-turn-radius-ft", 500));
setSpeedConstant(scFileNode->getDoubleValue("speed-constant", 0.5));
+ setSMPath(scFileNode->getStringValue("submodel-path", ""));
if (!flightplan.empty()) {
SG_LOG(SG_GENERAL, SG_ALERT, "getting flightplan: " << _name );
SGRawValuePointer<double>(&_proportion));
props->tie("controls/fixed-turn-radius-ft",
SGRawValuePointer<double>(&_fixed_turn_radius));
+ props->tie("controls/restart",
+ SGRawValuePointer<bool>(&_restart));
+ props->tie("velocities/speed-kts",
+ SGRawValuePointer<double>(&speed));
}
void FGAIShip::unbind() {
props->untie("controls/constants/lead-angle/proportion");
props->untie("controls/fixed-turn-radius-ft");
props->untie("controls/constants/speed");
+ props->untie("controls/restart");
+ props->untie("velocities/speed-kts");
}
void FGAIShip::update(double dt) {
// Update the velocity information stored in those nodes.
// Transform that one to the horizontal local coordinate system.
SGQuatd ec2hl = SGQuatd::fromLonLat(pos);
- // The orientation of the carrier wrt the horizontal local frame
+ // The orientation of the ship wrt the horizontal local frame
SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// and postrotate the orientation of the AIModel wrt the horizontal
// local frame
SGQuatd ec2body = ec2hl*hl2body;
- // The cartesian position of the carrier in the wgs84 world
+ // The cartesian position of the ship in the wgs84 world
SGVec3d cartPos = SGVec3d::fromGeod(pos);
// The simulation time this transform is meant for
}
// do not allow unreasonable speeds
- if (speed > _limit)
- speed = _limit;
+ SG_CLAMP_RANGE(speed, -_limit * 0.75, _limit);
// convert speed to degrees per second
speed_north_deg_sec = cos(hdg / SGD_RADIANS_TO_DEGREES)
//we assume that at slow speed ships will manoeuvre using engines/bow thruster
- if (fabs(speed)<=5)
- _sp_turn_radius_ft = _fixed_turn_radius;
- else {
- // adjust turn radius for speed. The equation is very approximate.
- // we need to allow for negative speeds
- if (type == "ship")
- _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
- else
- _sp_turn_radius_ft = turn_radius_ft;
+ if(type == "ship" || type == "carrier" || type == "escort"){
+
+ if (fabs(speed)<=5)
+ _sp_turn_radius_ft = _fixed_turn_radius;
+ else {
+ // adjust turn radius for speed. The equation is very approximate.
+ // we need to allow for negative speeds
+ _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
+ }
+
+ } else {
+
+ if (fabs(speed) <= 40)
+ _sp_turn_radius_ft = _fixed_turn_radius;
+ else {
+ // adjust turn radius for speed.
+ _sp_turn_radius_ft = turn_radius_ft;
+ }
+ }
- }
if (_rudder <= -0.25 || _rudder >= 0.25) {
// adjust turn radius for _rudder angle. The equation is even more approximate.
}
// set the _rudder limit by speed
- if (type == "ship"){
+ if (type == "ship" || type == "carrier" || type == "escort"){
if (speed <= 40)
rudder_limit = (-0.825 * speed) + 35;
}
void FGAIShip::TurnTo(double heading) {
- //double relbrg_corr = _relbrg;
-
- //if ( relbrg_corr > 5)
- // relbrg_corr = 5;
- //else if( relbrg_corr < -5)
- // relbrg_corr = -5;
-
tgt_heading = heading - _lead_angle + _tow_angle;
SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);
_hdg_lock = true;
_repeat = r;
}
+void FGAIShip::setRestart(bool r) {
+ _restart = r;
+}
+
void FGAIShip::setMissed(bool m) {
_missed = m;
props->setBoolValue("waypoint/missed", _missed);
_fixed_turn_radius = ftr;
}
+void FGAIShip::setInitialTunnel(bool t) {
+ _initial_tunnel = t;
+ setTunnel(_initial_tunnel);
+}
+
+void FGAIShip::setTunnel(bool t) {
+ _tunnel = t;
+}
+
void FGAIShip::setWPNames() {
if (prev != 0)
if (_dt_count < _next_run && _start_sec < time_sec)
return;
- _next_run = 1.0 + (0.5 * sg_random());
+ _next_run = 0.05 + (0.025 * sg_random());
double until_time_sec = 0;
_missed = false;
if (_next_name == "TUNNEL"){
_tunnel = !_tunnel;
- //SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " TUNNEL ");
+ SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: " << _name << " " << sp_turn_radius_nm );
fp->IncrementWaypoint(false);
next = fp->getNextWaypoint();
}else if(_next_name == "END" || fp->getNextWaypoint() == 0) {
if (_repeat) {
- SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: "<< _name << "Flightplan restarting ");
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: "<< _name << " Flightplan repeating ");
fp->restart();
prev = curr;
curr = fp->getCurrentWaypoint();
_missed_count = 0;
_lead_angle = 0;
AccelTo(prev->speed);
+ } else if (_restart){
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " Flightplan restarting ");
+ _missed_count = 0;
+ initFlightPlan();
} else {
SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " Flightplan dying ");
setDie(true);
_until_time = next->time;
setUntilTime(next->time);
if (until_time_sec > time_sec) {
- SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " "
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " "
<< curr->name << " waiting until: "
<< _until_time << " " << until_time_sec << " now " << time_sec );
setSpeed(0);
_waiting = true;
return;
} else {
- SG_LOG(SG_GENERAL, SG_DEBUG, "AIShip: "
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: "
<< _name << " wait until done: getting new waypoints ");
setUntilTime("");
fp->IncrementWaypoint(false);
bool init = false;
_start_sec = 0;
+ _tunnel = _initial_tunnel;
fp->restart();
fp->IncrementWaypoint(false);
_missed_count = 0;
_new_waypoint = true;
- SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints ");
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " done initialising waypoints " << _tunnel);
if (prev)
init = true;
double brg = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
curr->latitude, curr->longitude);
double xtrack_error_nm = sin((course - brg)* SG_DEGREES_TO_RADIANS) * _wp_range;
+ double factor = -0.0045 * speed + 1;
+ double limit = _lead_angle_limit * factor;
if (_wp_range > 0){
_lead_angle = atan2(xtrack_error_nm,(_wp_range * _proportion)) * SG_RADIANS_TO_DEGREES;
} else
_lead_angle = 0;
- _lead_angle *= _lead_angle_gain;
+ _lead_angle *= _lead_angle_gain * factor;
_xtrack_error = xtrack_error_nm * 6076.1155;
- SG_CLAMP_RANGE(_lead_angle, -_lead_angle_limit, _lead_angle_limit);
+ SG_CLAMP_RANGE(_lead_angle, -limit, limit);
}
projects / flightgear.git / blobdiff