X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIBase.cxx;h=8ec57b527df2ae9f244404ed6ef49959909c3983;hb=5bd2ef1edbbe61e9c5775810ddf4f0ef546f6b3c;hp=16f956ec67d60233493b3676a353fd4c5ec3cac7;hpb=4b424a29e7eccc229bacc1aa94464c164b972e4d;p=flightgear.git diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx index 16f956ec6..8ec57b527 100644 --- a/src/AIModel/AIBase.cxx +++ b/src/AIModel/AIBase.cxx @@ -30,6 +30,7 @@ #include #include +#include #include #include #include @@ -41,48 +42,96 @@ #include "AIBase.hxx" +#include "AIManager.hxx" -FGAIBase *FGAIBase::_self = NULL; -FGAIBase::FGAIBase() { - _self = this; +const double FGAIBase::e = 2.71828183; +const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor + + +FGAIBase::FGAIBase() + : fp( NULL ), + props( NULL ), + manager( NULL ), + _refID( _newAIModelID() ) +{ _type_str = "model"; + tgt_heading = hdg = tgt_altitude = tgt_speed = 0.0; tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0; + bearing = elevation = range = rdot = 0.0; + x_shift = y_shift = rotation = 0.0; + in_range = false; + invisible = true; + no_roll = true; + life = 900; + model_path = ""; + _otype = otNull; + index = 0; + delete_me = false; } FGAIBase::~FGAIBase() { - _self = NULL; + // Unregister that one at the scenery manager + if (globals->get_scenery()) { + globals->get_scenery()->unregister_placement_transform(aip.getTransform()); + globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph()); + } + // unbind(); + SGPropertyNode *root = globals->get_props()->getNode("ai/models", true); + root->removeChild(_type_str.c_str(), index); + delete fp; + fp = NULL; } void FGAIBase::update(double dt) { -} + if (_otype == otStatic) return; + if (_otype == otBallistic) CalculateMach(); + ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()*SGD_DEGREES_TO_RADIANS); + ft_per_deg_lon = 365228.16 * cos(pos.lat()*SGD_DEGREES_TO_RADIANS); +} void FGAIBase::Transform() { - aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET); - aip.setOrientation(roll, pitch, hdg); - aip.update( globals->get_scenery()->get_center() ); + if (!invisible) { + aip.setPosition(pos.lon(), pos.lat(), pos.elev() * SG_METER_TO_FEET); + if (no_roll) { + aip.setOrientation(0.0, pitch, hdg); + } else { + aip.setOrientation(roll, pitch, hdg); + } + aip.update(); + } } bool FGAIBase::init() { SGPropertyNode *root = globals->get_props()->getNode("ai/models", true); - vector p_vec = root->getChildren(_type_str); - unsigned num = p_vec.size(); - p_vec.clear(); - - props = root->getNode(_type_str, num, true); - ssgBranch *model = sgLoad3DModel( globals->get_fg_root(), - model_path.c_str(), - props, - globals->get_sim_time_sec() ); + + index = manager->getNum(_otype) - 1; + props = root->getNode(_type_str.c_str(), index, true); + + if (model_path != "") { + try { + model = load3DModel( globals->get_fg_root(), + SGPath(model_path).c_str(), + props, + globals->get_sim_time_sec() ); + } catch (const sg_exception &e) { + model = NULL; + } + } if (model) { aip.init( model ); aip.setVisible(true); + invisible = false; globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph()); + // Register that one at the scenery manager + globals->get_scenery()->register_placement_transform(aip.getTransform()); } else { - SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load aircraft model."); + if (model_path != "") { + SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path); + } } setDie(false); @@ -90,34 +139,80 @@ bool FGAIBase::init() { return true; } + +ssgBranch * FGAIBase::load3DModel(const string& fg_root, + const string &path, + SGPropertyNode *prop_root, + double sim_time_sec) +{ + // some more code here to check whether a model with this name has already been loaded + // if not load it, otherwise, get the memory pointer and do something like + // SetModel as in ATC/AIEntity.cxx + model = manager->getModel(path); + if (!(model)) + { + model = sgLoad3DModel(fg_root, + path, + prop_root, + sim_time_sec); + manager->setModel(path, model); + } + + return model; +} + +bool FGAIBase::isa( object_type otype ) { + if ( otype == _otype ) { return true; } + else { return false; } +} + + void FGAIBase::bind() { - props->tie("velocities/airspeed-kt", SGRawValuePointer(&speed)); + props->tie("id", SGRawValueMethods(*this, + &FGAIBase::getID)); + props->tie("velocities/true-airspeed-kt", SGRawValuePointer(&speed)); props->tie("velocities/vertical-speed-fps", - SGRawValueFunctions(FGAIBase::_getVS_fps, - FGAIBase::_setVS_fps)); + SGRawValueMethods(*this, + &FGAIBase::_getVS_fps, + &FGAIBase::_setVS_fps)); props->tie("position/altitude-ft", - SGRawValueFunctions(FGAIBase::_getAltitude, - FGAIBase::_setAltitude)); + SGRawValueMethods(*this, + &FGAIBase::_getAltitude, + &FGAIBase::_setAltitude)); props->tie("position/latitude-deg", - SGRawValueFunctions(FGAIBase::_getLatitude, - FGAIBase::_setLatitude)); + SGRawValueMethods(*this, + &FGAIBase::_getLatitude, + &FGAIBase::_setLatitude)); props->tie("position/longitude-deg", - SGRawValueFunctions(FGAIBase::_getLongitude, - FGAIBase::_setLongitude)); + SGRawValueMethods(*this, + &FGAIBase::_getLongitude, + &FGAIBase::_setLongitude)); props->tie("orientation/pitch-deg", SGRawValuePointer(&pitch)); props->tie("orientation/roll-deg", SGRawValuePointer(&roll)); - props->tie("orientation/heading-deg", SGRawValuePointer(&hdg)); + props->tie("orientation/true-heading-deg", SGRawValuePointer(&hdg)); + + props->tie("radar/in-range", SGRawValuePointer(&in_range)); + props->tie("radar/bearing-deg", SGRawValuePointer(&bearing)); + props->tie("radar/elevation-deg", SGRawValuePointer(&elevation)); + props->tie("radar/range-nm", SGRawValuePointer(&range)); + props->tie("radar/h-offset", SGRawValuePointer(&horiz_offset)); + props->tie("radar/v-offset", SGRawValuePointer(&vert_offset)); + props->tie("radar/x-shift", SGRawValuePointer(&x_shift)); + props->tie("radar/y-shift", SGRawValuePointer(&y_shift)); + props->tie("radar/rotation", SGRawValuePointer(&rotation)); props->tie("controls/lighting/nav-lights", - SGRawValueFunctions(FGAIBase::_isNight)); + SGRawValueFunctions(_isNight)); props->setBoolValue("controls/lighting/beacon", true); props->setBoolValue("controls/lighting/strobe", true); + props->setBoolValue("controls/glide-path", true); } void FGAIBase::unbind() { - props->untie("velocities/airspeed-kt"); + props->untie("id"); + props->untie("velocities/true-airspeed-kt"); props->untie("velocities/vertical-speed-fps"); props->untie("position/altitude-ft"); @@ -126,8 +221,216 @@ void FGAIBase::unbind() { props->untie("orientation/pitch-deg"); props->untie("orientation/roll-deg"); - props->untie("orientation/heading-deg"); + props->untie("orientation/true-heading-deg"); + + props->untie("radar/in-range"); + props->untie("radar/bearing-deg"); + props->untie("radar/elevation-deg"); + props->untie("radar/range-nm"); + props->untie("radar/h-offset"); + props->untie("radar/v-offset"); + props->untie("radar/x-shift"); + props->untie("radar/y-shift"); + props->untie("radar/rotation"); + + props->untie("controls/lighting/nav-lights"); +} + +double FGAIBase::UpdateRadar(FGAIManager* manager) +{ + double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range"); + radar_range_ft2 *= SG_NM_TO_METER * SG_METER_TO_FEET * 1.1; // + 10% + radar_range_ft2 *= radar_range_ft2; + + double user_latitude = manager->get_user_latitude(); + double user_longitude = manager->get_user_longitude(); + double lat_range = fabs(pos.lat() - user_latitude) * ft_per_deg_lat; + double lon_range = fabs(pos.lon() - user_longitude) * ft_per_deg_lon; + double range_ft2 = lat_range*lat_range + lon_range*lon_range; + + // + // Test whether the target is within radar range. + // + in_range = (range_ft2 && (range_ft2 <= radar_range_ft2)); + if ( in_range ) + { + props->setBoolValue("radar/in-range", true); + + // copy values from the AIManager + double user_altitude = manager->get_user_altitude(); + double user_heading = manager->get_user_heading(); + double user_pitch = manager->get_user_pitch(); + double user_yaw = manager->get_user_yaw(); + double user_speed = manager->get_user_speed(); + + // calculate range to target in feet and nautical miles + double range_ft = sqrt( range_ft2 ); + range = range_ft / 6076.11549; + + // calculate bearing to target + if (pos.lat() >= user_latitude) { + bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES; + if (pos.lon() >= user_longitude) { + bearing = 90.0 - bearing; + } else { + bearing = 270.0 + bearing; + } + } else { + bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES; + if (pos.lon() >= user_longitude) { + bearing = 180.0 - bearing; + } else { + bearing = 180.0 + bearing; + } + } + + // calculate look left/right to target, without yaw correction + horiz_offset = bearing - user_heading; + if (horiz_offset > 180.0) horiz_offset -= 360.0; + if (horiz_offset < -180.0) horiz_offset += 360.0; + + // calculate elevation to target + elevation = atan2( altitude * SG_METER_TO_FEET - user_altitude, range_ft ) + * SG_RADIANS_TO_DEGREES; + + // calculate look up/down to target + vert_offset = elevation + user_pitch; + + /* this calculation needs to be fixed, but it isn't important anyway + // calculate range rate + double recip_bearing = bearing + 180.0; + if (recip_bearing > 360.0) recip_bearing -= 360.0; + double my_horiz_offset = recip_bearing - hdg; + if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0; + if (my_horiz_offset < -180.0) my_horiz_offset += 360.0; + rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS )) + +(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS )); +*/ + + // now correct look left/right for yaw + horiz_offset += user_yaw; + + // calculate values for radar display + y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS); + x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS); + rotation = hdg - user_heading; + if (rotation < 0.0) rotation += 360.0; + + } + + return range_ft2; +} + +Point3D +FGAIBase::getCartPosAt(const Point3D& off) const +{ + // The offset converted to the usual body fixed coordinate system. + sgdVec3 sgdOff; + sgdSetVec3(sgdOff, -off.x(), off.z(), -off.y()); + + // Transform that one to the horizontal local coordinate system. + sgdMat4 hlTrans; + sgdMakeRotMat4(hlTrans, hdg, pitch, roll); + sgdXformPnt3(sgdOff, hlTrans); + + // Now transform to the wgs84 earth centeres system. + Point3D pos2(pos.lon()* SGD_DEGREES_TO_RADIANS, + pos.lat() * SGD_DEGREES_TO_RADIANS, + pos.elev()); + Point3D cartPos3D = sgGeodToCart(pos2); + sgdMat4 ecTrans; + sgdMakeCoordMat4(ecTrans, cartPos3D.x(), cartPos3D.y(), cartPos3D.z(), + pos.lon(), 0, - 90 - pos.lat()); + sgdXformPnt3(sgdOff, ecTrans); + + return Point3D(sgdOff[0], sgdOff[1], sgdOff[2]); +} + +Point3D +FGAIBase::getGeocPosAt(const Point3D& off) const +{ + return sgCartToGeod(getCartPosAt(off)); +} + +/* + * getters and Setters + */ +void FGAIBase::_setLongitude( double longitude ) { + pos.setlon(longitude); +} +void FGAIBase::_setLatitude ( double latitude ) { + pos.setlat(latitude); +} + +double FGAIBase::_getLongitude() const { + return pos.lon(); +} +double FGAIBase::_getLatitude () const { + return pos.lat(); +} +double FGAIBase::_getRdot() const { + return rdot; +} +double FGAIBase::_getVS_fps() const { + return vs*60.0; +} +void FGAIBase::_setVS_fps( double _vs ) { + vs = _vs/60.0; +} + +double FGAIBase::_getAltitude() const { + return altitude; +} +void FGAIBase::_setAltitude( double _alt ) { + setAltitude( _alt ); +} + +bool FGAIBase::_isNight() { + return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57); +} + +int FGAIBase::getID() const { + return _refID; +} + +void FGAIBase::CalculateMach() { + // Calculate rho at altitude, using standard atmosphere + // For the temperature T and the pressure p, + + if (altitude < 36152) { // curve fits for the troposphere + T = 59 - 0.00356 * altitude; + p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256); + + } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere + T = -70; + p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) ); + + } else { // upper stratosphere + T = -205.05 + (0.00164 * altitude); + p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388); + } + + rho = p / (1718 * (T + 459.7)); + + // calculate the speed of sound at altitude + // a = sqrt ( g * R * (T + 459.7)) + // where: + // a = speed of sound [ft/s] + // g = specific heat ratio, which is usually equal to 1.4 + // R = specific gas constant, which equals 1716 ft-lb/slug/°R + + a = sqrt ( 1.4 * 1716 * (T + 459.7)); + + // calculate Mach number + + Mach = speed/a; + + // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach; +} - props->untie("controls/controls/lighting/nav-lights"); +int FGAIBase::_newAIModelID() { + static int id = 0; + if (!++id) id++; // id = 0 is not allowed. + return id; }