X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIBase.cxx;h=b1dca66e790f2fdda3d4037eef64b07eb7657c40;hb=479d4d7484f6aabd4f4e5bb5ece9c6499272ed51;hp=ce3968b90c17483904eb5c2aff04cd534debb2c8;hpb=a7139a816cc3a0f4e1ed5ebf3f24d14805b77545;p=flightgear.git diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx index ce3968b90..b1dca66e7 100644 --- a/src/AIModel/AIBase.cxx +++ b/src/AIModel/AIBase.cxx @@ -15,7 +15,7 @@ // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software -// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. +// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. #ifdef HAVE_CONFIG_H @@ -30,6 +30,7 @@ #include #include +#include #include #include #include @@ -48,13 +49,14 @@ const double FGAIBase::e = 2.71828183; const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor -FGAIBase::FGAIBase() - : fp( NULL ), - model( NULL ), +FGAIBase::FGAIBase(object_type ot) + : fp( NULL ), props( NULL ), - manager( NULL ) + manager( NULL ), + _refID( _newAIModelID() ), + _otype(ot) { - _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; @@ -62,57 +64,46 @@ FGAIBase::FGAIBase() invisible = true; no_roll = true; life = 900; - model_path = ""; - _otype = otNull; - index = 0; delete_me = false; } FGAIBase::~FGAIBase() { - 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; - fp = 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()); + } + if (props) { + SGPropertyNode* parent = props->getParent(); + if (parent) + parent->removeChild(props->getName(), props->getIndex(), false); + } + delete fp; + fp = 0; } -void FGAIBase::update(double dt) { - 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, +void FGAIBase::readFromScenario(SGPropertyNode* scFileNode) +{ + if (!scFileNode) + return; - if (altitude < 36152) { // curve fits for the troposphere - T = 59 - 0.00356 * altitude; - p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256); + setPath(scFileNode->getStringValue("model", "Models/Geometry/glider.ac")); - } else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere - T = -70; - p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) ); + setHeading(scFileNode->getDoubleValue("heading", 0.0)); + setSpeed(scFileNode->getDoubleValue("speed", 0.0)); + setAltitude(scFileNode->getDoubleValue("altitude", 0.0)); + setLongitude(scFileNode->getDoubleValue("longitude", 0.0)); + setLatitude(scFileNode->getDoubleValue("latitude", 0.0)); + setBank(scFileNode->getDoubleValue("roll", 0.0)); +} - } else { // upper stratosphere - T = -205.05 + (0.00164 * altitude); - p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388); - } +void FGAIBase::update(double dt) { + if (_otype == otStatic) return; + if (_otype == otBallistic) CalculateMach(); - 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; + 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() { @@ -123,32 +114,31 @@ void FGAIBase::Transform() { } else { aip.setOrientation(roll, pitch, hdg); } - aip.update( globals->get_scenery()->get_center() ); + aip.update(); } } bool FGAIBase::init() { - SGPropertyNode *root = globals->get_props()->getNode("ai/models", true); - - index = manager->getNum(_otype) - 1; - props = root->getNode(_type_str.c_str(), index, true); - - if (model_path != "") { - model = load3DModel( globals->get_fg_root(), - SGPath(model_path).c_str(), - props, - globals->get_sim_time_sec() ); + if (!model_path.empty()) { + try { + model = load3DModel( globals->get_fg_root(), model_path, 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."); + if (!model_path.empty()) { + SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path); } } @@ -166,7 +156,6 @@ ssgBranch * FGAIBase::load3DModel(const string& fg_root, // 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 - //SSGBranch *model; model = manager->getModel(path); if (!(model)) { @@ -175,15 +164,8 @@ ssgBranch * FGAIBase::load3DModel(const string& fg_root, prop_root, sim_time_sec); manager->setModel(path, model); - model->ref(); } - //else - // { - // model->ref(); - // aip.init(model); - // aip.setVisible(false); - // globals->get_scenery()->get_scene_graph()->addKid(aip.getSceneGraph()); - // do some setModel stuff. + return model; } @@ -195,7 +177,7 @@ 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, @@ -347,6 +329,24 @@ double FGAIBase::UpdateRadar(FGAIManager* manager) return range_ft2; } +SGVec3d +FGAIBase::getCartPosAt(const SGVec3d& _off) const +{ + // Transform that one to the horizontal local coordinate system. + SGQuatd hlTrans = SGQuatd::fromLonLatDeg(pos.lon(), pos.lat()); + // and postrotate the orientation of the AIModel wrt the horizontal + // local frame + hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); + + // The offset converted to the usual body fixed coordinate system + // rotated to the earth fiexed coordinates axis + SGVec3d off = hlTrans.backTransform(_off); + + // Add the position offset of the AIModel to gain the earth centered position + SGVec3d cartPos = SGGeod::fromDegFt(pos.lon(), pos.lat(), pos.elev()); + + return cartPos + off; +} /* * getters and Setters @@ -385,6 +385,48 @@ 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; +} +