X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIBase.cxx;h=8ec57b527df2ae9f244404ed6ef49959909c3983;hb=5bd2ef1edbbe61e9c5775810ddf4f0ef546f6b3c;hp=cadc6af63ffe4044dc8c82fbe2c3c8682837cf4c;hpb=3c0ab43b43ebcbed58b063295b11da941444f238;p=flightgear.git diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx index cadc6af63..8ec57b527 100644 --- a/src/AIModel/AIBase.cxx +++ b/src/AIModel/AIBase.cxx @@ -30,6 +30,7 @@ #include #include +#include #include #include #include @@ -49,12 +50,13 @@ const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor FGAIBase::FGAIBase() - : fp( NULL ), - model( NULL ), + : fp( NULL ), props( NULL ), - manager( 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; @@ -69,50 +71,24 @@ FGAIBase::FGAIBase() } FGAIBase::~FGAIBase() { - globals->get_scenery()->get_scene_graph()->removeKid(aip.getSceneGraph()); + // 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); - if (fp) delete fp; + 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); - - // 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; } void FGAIBase::Transform() { @@ -123,7 +99,7 @@ void FGAIBase::Transform() { } else { aip.setOrientation(roll, pitch, hdg); } - aip.update( globals->get_scenery()->get_center() ); + aip.update(); } } @@ -136,19 +112,25 @@ bool FGAIBase::init() { props = root->getNode(_type_str.c_str(), index, true); if (model_path != "") { - model = sgLoad3DModel( globals->get_fg_root(), - model_path.c_str(), + 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 { if (model_path != "") { - SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model."); + SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path); } } @@ -157,6 +139,28 @@ 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; } @@ -165,7 +169,7 @@ bool FGAIBase::isa( object_type otype ) { void FGAIBase::bind() { props->tie("id", SGRawValueMethods(*this, - &FGAIBase::_getID)); + &FGAIBase::getID)); props->tie("velocities/true-airspeed-kt", SGRawValuePointer(&speed)); props->tie("velocities/vertical-speed-fps", SGRawValueMethods(*this, @@ -317,6 +321,36 @@ double FGAIBase::UpdateRadar(FGAIManager* manager) 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 @@ -355,6 +389,48 @@ bool FGAIBase::_isNight() { return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57); } -int FGAIBase::_getID() const { - return (int)(this); +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; +} + +int FGAIBase::_newAIModelID() { + static int id = 0; + if (!++id) id++; // id = 0 is not allowed. + return id; +} +