#include <math.h>
#include <algorithm>
-//#include <plib/sg.h>
-//#include <plib/ul.h>
-
-//#include <Environment/environment_mgr.hxx>
-//#include <Environment/environment.hxx>
-//#include <simgear/misc/sg_path.hxx>
-//#include <simgear/props/props.hxx>
-//#include <simgear/structure/subsystem_mgr.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/route/waypoint.hxx>
-//#include <Main/globals.hxx>
-//#include <Main/fg_props.hxx>
-//#include <Airports/runways.hxx>
-#include <AIModel/AIFlightPlan.hxx>
+#include <Airports/dynamics.hxx>
-//#include <string>
+#include <AIModel/AIFlightPlan.hxx>
#include "groundnetwork.hxx"
// doing this.
void FGTaxiSegment::setTrackDistance()
{
- //double course;
- SGWayPoint first (start->getLongitude(),
- start->getLatitude(),
- 0);
- SGWayPoint second (end->getLongitude(),
- end->getLatitude(),
- 0);
- first.CourseAndDistance(second, &course, &length);
+ length = SGGeodesy::distanceM(start->getGeod(), end->getGeod());
}
{
if ((*j)->getEnd()->getIndex() == (*i)->getStart()->getIndex())
{
- int start1 = (*i)->getStart()->getIndex();
- int end1 = (*i)->getEnd() ->getIndex();
- int start2 = (*j)->getStart()->getIndex();
- int end2 = (*j)->getEnd()->getIndex();
- int oppIndex = (*j)->getIndex();
+// int start1 = (*i)->getStart()->getIndex();
+// int end1 = (*i)->getEnd() ->getIndex();
+// int start2 = (*j)->getStart()->getIndex();
+// int end2 = (*j)->getEnd()->getIndex();
+// int oppIndex = (*j)->getIndex();
//cerr << "Opposite of " << (*i)->getIndex() << " (" << start1 << "," << end1 << ") "
// << "happens to be " << oppIndex << " (" << start2 << "," << end2 << ") " << endl;
(*i)->setOpposite(*j);
//exit(1);
}
-
-
-int FGGroundNetwork::findNearestNode(double lat, double lon)
+int FGGroundNetwork::findNearestNode(const SGGeod& aGeod)
{
double minDist = HUGE_VAL;
- double dist;
- int index;
- SGWayPoint first (lon,
- lat,
- 0);
+ int index = -1;
- for (FGTaxiNodeVectorIterator
- itr = nodes.begin();
- itr != nodes.end(); itr++)
+ for (FGTaxiNodeVectorIterator itr = nodes.begin(); itr != nodes.end(); itr++)
+ {
+ double d = SGGeodesy::distanceM(aGeod, (*itr)->getGeod());
+ if (d < minDist)
{
- double course;
- SGWayPoint second ((*itr)->getLongitude(),
- (*itr)->getLatitude(),
- 0);
- first.CourseAndDistance(second, &course, &dist);
- if (dist < minDist)
- {
- minDist = dist;
- index = (*itr)->getIndex();
- //cerr << "Minimum distance of " << minDist << " for index " << index << endl;
- }
+ minDist = d;
+ index = (*itr)->getIndex();
+ //cerr << "Minimum distance of " << minDist << " for index " << index << endl;
}
+ }
+
return index;
}
-FGTaxiNode *FGGroundNetwork::findNode(int idx)
+int FGGroundNetwork::findNearestNode(double lat, double lon)
+{
+ return findNearestNode(SGGeod::fromDeg(lon, lat));
+}
+
+FGTaxiNode *FGGroundNetwork::findNode(unsigned idx)
{ /*
for (FGTaxiNodeVectorIterator
itr = nodes.begin();
return 0;
}
-FGTaxiSegment *FGGroundNetwork::findSegment(int idx)
+FGTaxiSegment *FGGroundNetwork::findSegment(unsigned idx)
{/*
for (FGTaxiSegmentVectorIterator
itr = segments.begin();
instruction. See below for the hold position instruction.
Note that there currently still is one flaw in the logic that needs to be addressed.
- can be situations where one aircraft is in front of the current aircraft, on a separate
+ There can be situations where one aircraft is in front of the current aircraft, on a separate
route, but really close after an intersection coming off the current route. This
aircraft is still close enough to block the current aircraft. This situation is currently
not addressed yet, but should be.
double mindist = HUGE_VAL;
if (activeTraffic.size())
{
- double course, dist, bearing, minbearing;
- SGWayPoint curr (lon,
- lat,
- alt);
+ double course, dist, bearing, minbearing, az2;
+ SGGeod curr(SGGeod::fromDegM(lon, lat, alt));
//TrafficVector iterator closest;
closest = current;
for (TrafficVectorIterator i = activeTraffic.begin();
i != activeTraffic.end(); i++)
{
- if (i != current) {
- //SGWayPoint curr (lon,
- // lat,
- // alt);
- SGWayPoint other (i->getLongitude (),
- i->getLatitude (),
- i->getAltitude ());
- other.CourseAndDistance(curr, &course, &dist);
- bearing = fabs(heading-course);
+ if (i == current) {
+ continue;
+ }
+
+ SGGeod other(SGGeod::fromDegM(i->getLongitude(),
+ i->getLatitude(), i->getAltitude()));
+ SGGeodesy::inverse(curr, other, course, az2, dist);
+ bearing = fabs(heading-course);
if (bearing > 180)
bearing = 360-bearing;
if ((dist < mindist) && (bearing < 60.0))
closest = i;
minbearing = bearing;
}
- }
}
//Check traffic at the tower controller
if (towerController->hasActiveTraffic())
i != towerController->getActiveTraffic().end(); i++)
{
//cerr << "Comparing " << current->getId() << " and " << i->getId() << endl;
- //SGWayPoint curr (lon,
- // lat,
- // alt);
- SGWayPoint other (i->getLongitude (),
- i->getLatitude (),
- i->getAltitude ());
- other.CourseAndDistance(curr, &course, &dist);
- bearing = fabs(heading-course);
+ SGGeod other(SGGeod::fromDegM(i->getLongitude(),
+ i->getLatitude(),
+ i->getAltitude()));
+ SGGeodesy::inverse(curr, other, course, az2, dist);
+ bearing = fabs(heading-course);
if (bearing > 180)
- bearing = 360-bearing;
+ bearing = 360-bearing;
if ((dist < mindist) && (bearing < 60.0))
{
mindist = dist;
// Finally, check UserPosition
double userLatitude = fgGetDouble("/position/latitude-deg");
double userLongitude = fgGetDouble("/position/longitude-deg");
- SGWayPoint user (userLongitude,
- userLatitude,
- alt); // Alt is not really important here.
- user.CourseAndDistance(curr, &course, &dist);
+ SGGeod user(SGGeod::fromDeg(userLongitude,userLatitude));
+ SGGeodesy::inverse(curr, user, course, az2, dist);
+
bearing = fabs(heading-course);
if (bearing > 180)
- bearing = 360-bearing;
+ bearing = 360-bearing;
if ((dist < mindist) && (bearing < 60.0))
{
mindist = dist;
minbearing = bearing;
otherReasonToSlowDown = true;
}
-
- // if (closest == current) {
- // //SG_LOG(SG_GENERAL, SG_ALERT, "AI error: closest and current match");
- // //return;
- // }
- //cerr << "Distance : " << dist << " bearing : " << bearing << " heading : " << heading
- // << " course : " << course << endl;
+
current->clearSpeedAdjustment();
if (current->checkPositionAndIntentions(*closest) || otherReasonToSlowDown)
}
current = i;
current->setHoldPosition(false);
- SGWayPoint curr (lon,
- lat,
- alt);
- double course, dist, bearing, minbearing;
+ SGGeod curr(SGGeod::fromDegM(lon, lat, alt));
+
for (i = activeTraffic.begin();
i != activeTraffic.end(); i++)
{
int node = current->crosses(this, *i);
if (node != -1)
{
+ FGTaxiNode* taxiNode = findNode(node);
+
// Determine whether it's save to continue or not.
// If we have a crossing route, there are two possibilities:
// 1) This is an interestion
// 2) This is oncoming two-way traffic, using the same taxiway.
//cerr << "Hold check 1 : " << id << " has common node " << node << endl;
- SGWayPoint nodePos(findNode(node)->getLongitude (),
- findNode(node)->getLatitude (),
- alt);
-
- SGWayPoint other (i->getLongitude (),
- i->getLatitude (),
- i->getAltitude ());
- //other.CourseAndDistance(curr, &course, &dist);
- bool needsToWait;
+
+ SGGeod other(SGGeod::fromDegM(i->getLongitude(), i->getLatitude(), i->getAltitude()));
+ bool needsToWait;
bool opposing;
if (current->isOpposing(this, *i, node))
{
else
{
opposing = false;
- other.CourseAndDistance(nodePos, &course, &dist);
- if (dist > 200) // 2.0*i->getRadius())
+ if (SGGeodesy::distanceM(other, taxiNode->getGeod()) > 200) // 2.0*i->getRadius())
{
needsToWait = false;
//cerr << "Hold check 3 : " << id <<" Other aircraft approaching node is still far away. (" << dist << " nm). Can safely continue "
//cerr << "Hold check 4: " << id << " Would need to wait for other aircraft : distance = " << dist << " meters" << endl;
}
}
- curr.CourseAndDistance(nodePos, &course, &dist);
- if (!(i->hasHoldPosition()))
+
+ double dist = SGGeodesy::distanceM(curr, taxiNode->getGeod());
+ if (!(i->hasHoldPosition()))
{
if ((dist < 200) && //2.5*current->getRadius()) &&
projects / flightgear.git / blobdiff