// FGAIWingman - FGAIBllistic-derived class creates an AI Wingman
//
// Written by Vivian Meazza, started February 2008.
-// - vivian.meazza at lineone.net
+// - vivian.meazza at lineone.net
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
# include <config.h>
#endif
+#include <simgear/sg_inlines.h>
+#include <simgear/math/SGMath.hxx>
+
+
#include "AIWingman.hxx"
-FGAIWingman::FGAIWingman() : FGAIBallistic(otWingman)
+FGAIWingman::FGAIWingman() : FGAIBallistic(otWingman),
+_formate_to_ac(true),
+_break(false),
+_join(false),
+_break_angle(-90),
+_coeff_hdg(5.0),
+_coeff_pch(5.0),
+_coeff_bnk(5.0),
+_coeff_spd(2.0)
+
{
invisible = false;
- _formate_to_ac = true;
+ _parent="";
+ tgt_heading = 250;
+
}
FGAIWingman::~FGAIWingman() {}
setLife(scFileNode->getDoubleValue("life", -1));
setNoRoll(scFileNode->getBoolValue("no-roll", false));
setName(scFileNode->getStringValue("name", "Wingman"));
- //setSMPath(scFileNode->getStringValue("submodel-path", ""));
+ setParentName(scFileNode->getStringValue("parent", ""));
setSubID(scFileNode->getIntValue("SubID", 0));
setXoffset(scFileNode->getDoubleValue("x-offset", 0.0));
setYoffset(scFileNode->getDoubleValue("y-offset", 0.0));
setYawoffset(scFileNode->getDoubleValue("yaw-offset", 0.0));
setGroundOffset(scFileNode->getDoubleValue("ground-offset", 0.0));
setFormate(scFileNode->getBoolValue("formate", true));
+ setMaxSpeed(scFileNode->getDoubleValue("max-speed-kts", 300.0));
+ setCoeffHdg(scFileNode->getDoubleValue("coefficients/heading", 5.0));
+ setCoeffPch(scFileNode->getDoubleValue("coefficients/pitch", 5.0));
+ setCoeffBnk(scFileNode->getDoubleValue("coefficients/bank", 4.0));
+ setCoeffSpd(scFileNode->getDoubleValue("coefficients/speed", 2.0));
+
+
}
void FGAIWingman::bind() {
FGAIBallistic::bind();
+ props->untie("controls/slave-to-ac");
+
props->tie("id", SGRawValueMethods<FGAIBase,int>(*this,
&FGAIBase::getID));
props->tie("subID", SGRawValueMethods<FGAIBase,int>(*this,
&FGAIBase::_getLongitude,
&FGAIBase::_setLongitude));
+ props->tie("controls/break", SGRawValuePointer<bool>(&_break));
+ props->tie("controls/join", SGRawValuePointer<bool>(&_join));
+
+ props->tie("controls/formate-to-ac",
+ SGRawValueMethods<FGAIWingman,bool>
+ (*this, &FGAIWingman::getFormate, &FGAIWingman::setFormate));
+ props->tie("controls/tgt-heading-deg",
+ SGRawValueMethods<FGAIWingman,double>
+ (*this, &FGAIWingman::getTgtHdg, &FGAIWingman::setTgtHdg));
+ props->tie("controls/tgt-speed-kt",
+ SGRawValueMethods<FGAIWingman,double>
+ (*this, &FGAIWingman::getTgtSpd, &FGAIWingman::setTgtSpd));
+ props->tie("controls/break-deg-rel",
+ SGRawValueMethods<FGAIWingman,double>
+ (*this, &FGAIWingman::getBrkAng, &FGAIWingman::setBrkAng));
+ props->tie("controls/coefficients/heading",
+ SGRawValuePointer<double>(&_coeff_hdg));
+ props->tie("controls/coefficients/pitch",
+ SGRawValuePointer<double>(&_coeff_pch));
+ props->tie("controls/coefficients/bank",
+ SGRawValuePointer<double>(&_coeff_bnk));
+ props->tie("controls/coefficients/speed",
+ SGRawValuePointer<double>(&_coeff_spd));
+
props->tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
props->tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
props->tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
+ props->tie("submodels/serviceable", SGRawValuePointer<bool>(&serviceable));
props->tie("load/rel-brg-to-user-deg",
SGRawValueMethods<FGAIBallistic,double>
props->tie("load/elev-to-user-deg",
SGRawValueMethods<FGAIBallistic,double>
(*this, &FGAIBallistic::getElevHitchToUser));
+
props->tie("velocities/vertical-speed-fps",
SGRawValuePointer<double>(&vs));
+ props->tie("velocities/true-airspeed-kt",
+ SGRawValuePointer<double>(&speed));
+ props->tie("velocities/speed-east-fps",
+ SGRawValuePointer<double>(&_speed_east_fps));
+ props->tie("velocities/speed-north-fps",
+ SGRawValuePointer<double>(&_speed_north_fps));
+
props->tie("position/x-offset",
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getXOffset, &FGAIBase::setXoffset));
props->tie("position/y-offset",
props->untie("id");
props->untie("SubID");
- props->untie("position/altitude-ft");
- props->untie("position/latitude-deg");
- props->untie("position/longitude-deg");
-
props->untie("orientation/pitch-deg");
props->untie("orientation/roll-deg");
props->untie("orientation/true-heading-deg");
+ props->untie("controls/formate-to-ac");
+ props->untie("controls/break");
+ props->untie("controls/join");
+ props->untie("controls/tgt-heading-deg");
+ props->untie("controls/tgt-speed-kt");
+ props->untie("controls/break-deg-rel");
+ props->untie("controls/coefficients/heading");
+ props->untie("controls/coefficients/pitch");
+ props->untie("controls/coefficients/bank");
+ props->untie("controls/coefficients/speed");
+
+ props->untie("submodels/serviceable");
+
+ props->untie("velocities/true-airspeed-kt");
+ props->untie("velocities/vertical-speed-fps");
+ props->untie("velocities/speed_east_fps");
+ props->untie("velocities/speed_north_fps");
+
props->untie("load/rel-brg-to-user-deg");
props->untie("load/elev-to-user-deg");
- props->untie("velocities/vertical-speed-fps");
+
+ props->untie("position/altitude-ft");
+ props->untie("position/latitude-deg");
+ props->untie("position/longitude-deg");
props->untie("position/x-offset");
props->untie("position/y-offset");
props->untie("position/z-offset");
roll = _rotation;
_ht_agl_ft = 1e10;
+ if(_parent != ""){
+ setParentNode();
+ }
+
+ setParentNodes(_selected_ac);
+
+ props->setStringValue("submodels/path", _path.c_str());
+ user_WoW_node = fgGetNode("gear/gear[1]/wow", true);
return true;
}
void FGAIWingman::update(double dt) {
- FGAIBallistic::update(dt);
+
+// FGAIBallistic::update(dt);
+
+ if (_formate_to_ac){
+ formateToAC(dt);
+ Transform();
+ setBrkHdg(_break_angle);
+ }else if (_break) {
+ FGAIBase::update(dt);
+ tgt_altitude_ft = altitude_ft;
+ tgt_speed = speed;
+ tgt_roll = roll;
+ tgt_pitch = pitch;
+ Break(dt);
+ Transform();
+ } else {
+ Join(dt);
+ Transform();
+ }
+
+}
+
+double FGAIWingman::calcDistanceM(SGGeod pos1, SGGeod pos2) const {
+ //calculate the distance load to hitch
+ SGVec3d cartPos1 = SGVec3d::fromGeod(pos1);
+ SGVec3d cartPos2 = SGVec3d::fromGeod(pos2);
+
+ SGVec3d diff = cartPos1 - cartPos2;
+ double distance = norm(diff);
+ return distance;
}
+double FGAIWingman::calcAngle(double range, SGGeod pos1, SGGeod pos2){
+
+ double angle = 0;
+ double distance = calcDistanceM(pos1, pos2);
+ double daltM = pos1.getElevationM() - pos2.getElevationM();
+
+ if (fabs(distance) < SGLimits<float>::min()) {
+ angle = 0;
+ } else {
+ double sAngle = daltM/range;
+ sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
+ angle = SGMiscd::rad2deg(asin(sAngle));
+ }
+
+ return angle;
+}
+
+void FGAIWingman::formateToAC(double dt){
+
+ double p_hdg, p_pch, p_rll, p_agl, p_ht, p_wow = 0;
+
+ setTgtOffsets(dt, 25);
+
+ if (_pnode != 0) {
+ setParentPos();
+ p_hdg = _p_hdg_node->getDoubleValue();
+ p_pch = _p_pch_node->getDoubleValue();
+ p_rll = _p_rll_node->getDoubleValue();
+ p_ht = _p_alt_node->getDoubleValue();
+ setOffsetPos(_parentpos, p_hdg, p_pch, p_rll);
+ setSpeed(_p_spd_node->getDoubleValue());
+ }else {
+ _setUserPos();
+ p_hdg = manager->get_user_heading();
+ p_pch = manager->get_user_pitch();
+ p_rll = manager->get_user_roll();
+ p_ht = manager->get_user_altitude();
+ setOffsetPos(userpos, p_hdg,p_pch, p_rll);
+ setSpeed(manager->get_user_speed());
+ }
+
+ // elapsed time has a random initialisation so that each
+ // wingman moves differently
+ _elapsed_time += dt;
+
+ // we derive a sine based factor to give us smoothly
+ // varying error between -1 and 1
+ double factor = sin(SGMiscd::deg2rad(_elapsed_time * 10));
+ double r_angle = 5 * factor;
+ double p_angle = 2.5 * factor;
+ double h_angle = 5 * factor;
+ double h_feet = 3 * factor;
+
+ p_agl = manager->get_user_agl();
+ p_wow = user_WoW_node->getDoubleValue();
+
+ if(p_agl <= 10 || p_wow == 1) {
+ _height = p_ht;
+ //cout << "ht case1 " ;
+ } else if (p_agl > 10 && p_agl <= 150 ) {
+ setHt(p_ht, dt, 1.0);
+ //cout << "ht case2 " ;
+ } else if (p_agl > 150 && p_agl <= 250) {
+ setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.75);
+ //cout << "ht case3 " ;
+ } else{
+ setHt(_offsetpos.getElevationFt()+ h_feet, dt, 0.5);
+ //cout << "ht case4 " ;
+ }
+
+ pos.setElevationFt(_height);
+ pos.setLatitudeDeg(_offsetpos.getLatitudeDeg());
+ pos.setLongitudeDeg(_offsetpos.getLongitudeDeg());
+
+ // these calculations are unreliable at slow speeds
+ // and we don't want random movement on the ground
+ if(speed >= 10 && p_wow != 1) {
+ setHdg(p_hdg + h_angle, dt, 0.9);
+ setPch(p_pch + p_angle + _pitch_offset, dt, 0.9);
+
+ if (roll <= 115 && roll >= -115)
+ setBnk(p_rll + r_angle + _roll_offset, dt, 0.5);
+ else
+ roll = p_rll + r_angle + _roll_offset;
+
+ } else {
+ setHdg(p_hdg, dt, 0.9);
+ setPch(p_pch + _pitch_offset, dt, 0.9);
+ setBnk(p_rll + _roll_offset, dt, 0.9);
+ }
+
+ setOffsetVelocity(dt, pos);
+}// end formateToAC
+
+void FGAIWingman::Break(double dt) {
+
+ Run(dt);
+
+ //calculate the turn direction: 1 = right, -1 = left
+ double rel_brg = calcRelBearingDeg(tgt_heading, hdg);
+ int turn = SGMiscd::sign(rel_brg);
+
+ // set heading and pitch
+ setHdg(tgt_heading, dt, _coeff_hdg);
+ setPch(0, dt, _coeff_pch);
+
+ if (fabs(tgt_heading - hdg) >= 10)
+ setBnk(45 * turn , dt, _coeff_bnk);
+ else
+ setBnk(0, dt, _coeff_bnk);
+
+} // end Break
+
+void FGAIWingman::Join(double dt) {
+
+ double range, bearing, az2;
+ double parent_hdg, parent_spd, parent_ht= 0;
+ double p_hdg, p_pch, p_rll = 0;
+
+ setTgtOffsets(dt, 25);
+
+ if (_pnode != 0) {
+ setParentPos();
+ p_hdg = _p_hdg_node->getDoubleValue();
+ p_pch = _p_pch_node->getDoubleValue();
+ p_rll = _p_rll_node->getDoubleValue();
+ setOffsetPos(_parentpos, p_hdg, p_pch, p_rll);
+ parent_hdg = _p_hdg_node->getDoubleValue();
+ parent_spd = _p_spd_node->getDoubleValue();
+ }else {
+ _setUserPos();
+ p_hdg = manager->get_user_heading();
+ p_pch = manager->get_user_pitch();
+ p_rll = manager->get_user_roll();
+ setOffsetPos(userpos, p_hdg, p_pch, p_rll);
+ parent_hdg = manager->get_user_heading();
+ parent_spd = manager->get_user_speed();
+ }
+
+ setSpeed(parent_spd);
+
+ double distance = calcDistanceM(pos, _offsetpos);
+ double daltM = _offsetpos.getElevationM() - pos.getElevationM();
+ double limit = 10;
+ double hdg_l_lim = parent_hdg - limit;
+ SG_NORMALIZE_RANGE(hdg_l_lim, 0.0, 360.0);
+ double hdg_r_lim = parent_hdg + limit;
+ SG_NORMALIZE_RANGE(hdg_r_lim, 0.0, 360.0);
+
+ if (distance <= 2 && fabs(daltM) <= 2 &&
+ (hdg >= hdg_l_lim || hdg <= hdg_r_lim)){
+ _height = _offsetpos.getElevationFt();
+ _formate_to_ac = true;
+ _join = false;
+
+ SG_LOG(SG_GENERAL, SG_ALERT, _name << " joined " << " RANGE " << distance
+ << " SPEED " << speed );
+
+ return;
+ }
+
+ geo_inverse_wgs_84(pos, _offsetpos, &bearing, &az2, &range);
+
+ double rel_brg = calcRelBearingDeg(bearing, hdg);
+ double recip_brg = calcRecipBearingDeg(bearing);
+ double angle = calcAngle(distance,_offsetpos, pos);
+ double approx_angle = atan2(daltM, range);
+ double frm_spd = 50; // formation speed
+ double join_rnge = 1000.0;
+ double recip_parent_hdg = calcRecipBearingDeg(parent_hdg);
+ int turn = SGMiscd::sign(rel_brg);// turn direction: 1 = right, -1 = left
+
+ if (range <= join_rnge && (hdg >= hdg_l_lim || hdg <= hdg_r_lim)){
+
+ //these are the rules governing joining
+
+ if ((rel_brg <= -175 || rel_brg >= 175) && range <=10 ){
+ // station is behind us - back up a bit
+ setSpeed(parent_spd - ((frm_spd/join_rnge) * range));
+ setHdg(recip_brg, dt, _coeff_hdg);
+ setPch(angle, dt, _coeff_pch);
+ //cout << _name << " backing up HEADING " << hdg
+ // << " RANGE " << range;
+ } else if (rel_brg >= -5 || rel_brg <= 5) {
+ // station is in front of us - slow down
+ setSpeed(parent_spd + ((frm_spd/100) * range));
+ //SGMiscd::clip
+ setHdg(bearing, dt, 1.5);
+ setPch(angle, dt, _coeff_pch);
+ //cout << _name << " slowing HEADING " << hdg
+ // << " RANGE " << range <<endl;
+ } else if ( range <=10 ){
+ // station is to one side - equal speed and turn towards
+ setSpd(parent_spd , dt, 2.0);
+ setSpeed(_speed);
+ setHdg(parent_hdg + (5 * turn), dt, _coeff_hdg);
+ //cout << _name << " equal speed HEADING " << hdg
+ // << " RANGE " << range<< endl;
+ } else {
+ // we missed it - equal speed and turn to recip
+ setSpd(parent_spd , dt, 2.0);
+ setSpeed(_speed);
+ setHdg(recip_brg, dt, _coeff_hdg);
+ //cout << _name << " WHOOPS!! missed join HEADING " << hdg
+ // << " RANGE " << range<< endl;
+ }
+
+ } else if (range <= join_rnge) {
+ // we missed it - equal speed and turn to recip
+ setSpd(parent_spd , dt, 2.0);
+ setSpeed(_speed);
+ setHdg(recip_brg , dt, _coeff_hdg);
+ //cout << _name << " WHOOPS!! missed approach HEADING " << hdg
+ // << " " << recip_brg
+ // /*<< " " << recip_parent_hdg*/
+ // << " RANGE " << range<< endl;
+ } else if (range > join_rnge && range <= 2000 ){
+ //approach phase
+ //cout << _name << " approach HEADING " << hdg
+ // << " RANGE " << range<< endl;
+ setSpd(parent_spd + frm_spd, dt, 2.0);
+ setSpeed(_speed);
+ setHdg(bearing, dt, _coeff_hdg);
+ setPch(angle, dt, _coeff_pch);
+ } else {
+ //hurry up
+ //cout << _name << " hurry up HEADING " << hdg
+ // << " RANGE " << range<< endl;
+ setSpd(_max_speed -10, dt, 2.0);
+ setSpeed(_speed);
+ setHdg(bearing, dt, _coeff_hdg);
+ setPch(angle, dt, _coeff_pch);
+ }
+
+ Run(dt);
+
+ // set roll
+
+ if (fabs(bearing - hdg) >= 10)
+ setBnk(45 * turn , dt, _coeff_bnk);
+ else
+ setBnk(0, dt, _coeff_bnk);
+
+} // end Join
+
+void FGAIWingman::Run(double dt) {
+
+ // don't let speed become negative
+ SG_CLAMP_RANGE(speed, 100.0, _max_speed);
+
+ double speed_fps = speed * SG_KT_TO_FPS;
+
+ // calculate vertical and horizontal speed components
+ if (speed == 0.0) {
+ hs = vs = 0.0;
+ } else {
+ vs = sin( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
+ hs = cos( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
+ }
+
+ //cout << "vs hs " << vs << " " << hs << endl;
+
+ //resolve horizontal speed into north and east components:
+ double speed_north_fps = cos(hdg / SG_RADIANS_TO_DEGREES) * hs;
+ double speed_east_fps = sin(hdg / SG_RADIANS_TO_DEGREES) * hs;
+
+ // convert horizontal speed (fps) to degrees per second
+ double speed_north_deg_sec = speed_north_fps / ft_per_deg_lat;
+ double speed_east_deg_sec = speed_east_fps / ft_per_deg_lon;
+
+ //get wind components
+ _wind_from_north = manager->get_wind_from_north();
+ _wind_from_east = manager->get_wind_from_east();
+
+ // convert wind speed (fps) to degrees lat/lon per second
+ double wind_speed_from_north_deg_sec = _wind_from_north / ft_per_deg_lat;
+ double wind_speed_from_east_deg_sec = _wind_from_east / ft_per_deg_lon;
+
+ //recombine the horizontal velocity components
+ hs = sqrt(((speed_north_fps) * (speed_north_fps))
+ + ((speed_east_fps)* (speed_east_fps )));
+
+ if (hs <= 0.00001)
+ hs = 0;
+
+ if (vs <= 0.00001 && vs >= -0.00001)
+ vs = 0;
+
+ //cout << "lat " << pos.getLatitudeDeg()<< endl;
+ // set new position
+ pos.setLatitudeDeg( pos.getLatitudeDeg()
+ + (speed_north_deg_sec - wind_speed_from_north_deg_sec) * dt );
+ pos.setLongitudeDeg( pos.getLongitudeDeg()
+ + (speed_east_deg_sec - wind_speed_from_east_deg_sec ) * dt );
+ pos.setElevationFt(pos.getElevationFt() + vs * dt);
+
+ //cout << _name << " run hs " << hs << " vs " << vs << endl;
+
+ // recalculate total speed
+ if ( vs == 0 && hs == 0)
+ speed = 0;
+ else
+ speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
+
+ // recalculate elevation and azimuth (velocity vectors)
+ pitch = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
+ hdg = atan2((speed_east_fps),(speed_north_fps))* SG_RADIANS_TO_DEGREES;
+
+ // rationalise heading
+ SG_NORMALIZE_RANGE(hdg, 0.0, 360.0);
+
+}// end Run
+
// end AIWingman
projects / flightgear.git / blobdiff