X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIBase.cxx;h=de107a682bfc8ae356784e42c119304aa80098b3;hb=bcea720db3e29a62626b361f2149a7147e149f3b;hp=20bc20520c5f63113231d4d151ef5ee4445d4855;hpb=79abf11466f6cccd0e383e04273997056c97da58;p=flightgear.git diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx index 20bc20520..7cfcfcb0a 100644 --- a/src/AIModel/AIBase.cxx +++ b/src/AIModel/AIBase.cxx @@ -3,6 +3,8 @@ // David Luff's FGAIEntity class. // - davidculp2@comcast.net // +// With additions by Mathias Froehlich & Vivian Meazza 2004 -2007 +// // This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License as // published by the Free Software Foundation; either version 2 of the @@ -22,75 +24,176 @@ # include #endif +#include + #include -#include STL_STRING +#include -#include -#include +#include +#include +#include -#include -#include #include -#include -#include +#include +#include +#include #include #include #include
#include - +#include +#include #include "AIBase.hxx" #include "AIManager.hxx" - +const char *default_model = "Models/Geometry/glider.ac"; const double FGAIBase::e = 2.71828183; const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor +using namespace simgear; -FGAIBase::FGAIBase(object_type ot) - : fp( NULL ), +FGAIBase::FGAIBase(object_type ot, bool enableHot) : + _max_speed(300), + _name(""), + _parent(""), props( NULL ), + model_removed( fgGetNode("/ai/models/model-removed", true) ), manager( NULL ), + _installed(false), + fp( NULL ), + _impact_lat(0), + _impact_lon(0), + _impact_elev(0), + _impact_hdg(0), + _impact_pitch(0), + _impact_roll(0), + _impact_speed(0), _refID( _newAIModelID() ), - _otype(ot) + _otype(ot), + _initialized(false), + _modeldata(0), + _fx(0) + { - tgt_heading = hdg = tgt_altitude = tgt_speed = 0.0; + tgt_heading = hdg = tgt_altitude_ft = 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; + invisible = false; no_roll = true; life = 900; delete_me = false; + _impact_reported = false; + _collision_reported = false; + _expiry_reported = false; + + _subID = 0; + + _x_offset = 0; + _y_offset = 0; + _z_offset = 0; + + _pitch_offset = 0; + _roll_offset = 0; + _yaw_offset = 0; + + userpos = SGGeod::fromDeg(0, 0); + + pos = SGGeod::fromDeg(0, 0); + speed = 0; + altitude_ft = 0; + speed_north_deg_sec = 0; + speed_east_deg_sec = 0; + turn_radius_ft = 0; + + ft_per_deg_lon = 0; + ft_per_deg_lat = 0; + + horiz_offset = 0; + vert_offset = 0; + ht_diff = 0; + + serviceable = false; + + fp = 0; + + rho = 1; + T = 280; + p = 1e5; + a = 340; + Mach = 0; + + // explicitly disable HOT for (most) AI models + if (!enableHot) + aip.getSceneGraph()->setNodeMask(~SG_NODEMASK_TERRAIN_BIT); } FGAIBase::~FGAIBase() { // 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()); - } + removeModel(); + if (props) { SGPropertyNode* parent = props->getParent(); - if (parent) { - fgSetString("/ai/models/model-removed", props->getPath()); - parent->removeChild(props->getName(), props->getIndex(), false); + + if (parent) + model_removed->setStringValue(props->getPath()); + } + + // refID=0 is supposedley impossible, refID=1 is the special ai_ac aircaft + // representing the current user, in the ATCManager. Maybe both these + // tests could die? + if (_fx && _refID != 0 && _refID != 1) { + SGSoundMgr *smgr = globals->get_soundmgr(); + if (smgr) { + stringstream name; + name << "aifx:"; + name << _refID; + smgr->remove(name.str()); } } - delete fp; + + if (fp) + delete fp; fp = 0; } +/** Cleanly remove the model + * and let the scenery database pager do the clean-up work. + */ +void +FGAIBase::removeModel() +{ + if (!_model.valid()) + return; + + FGScenery* pSceneryManager = globals->get_scenery(); + if (pSceneryManager) + { + osg::ref_ptr temp = _model.get(); + pSceneryManager->get_scene_graph()->removeChild(aip.getSceneGraph()); + // withdraw from SGModelPlacement and drop own reference (unref) + aip.init( 0 ); + _model = 0; + // pass it on to the pager, to be be deleted in the pager thread + pSceneryManager->getPager()->queueDeleteRequest(temp); + } + else + { + SG_LOG(SG_AI, SG_ALERT, "AIBase: Could not unload model. Missing scenery manager!"); + } +} void FGAIBase::readFromScenario(SGPropertyNode* scFileNode) { if (!scFileNode) return; - setPath(scFileNode->getStringValue("model", "Models/Geometry/glider.ac")); + setPath(scFileNode->getStringValue("model", + fgGetString("/sim/multiplay/default-model", default_model))); setHeading(scFileNode->getDoubleValue("heading", 0.0)); setSpeed(scFileNode->getDoubleValue("speed", 0.0)); @@ -98,293 +201,550 @@ void FGAIBase::readFromScenario(SGPropertyNode* scFileNode) setLongitude(scFileNode->getDoubleValue("longitude", 0.0)); setLatitude(scFileNode->getDoubleValue("latitude", 0.0)); setBank(scFileNode->getDoubleValue("roll", 0.0)); + + SGPropertyNode* submodels = scFileNode->getChild("submodels"); + + if (submodels) { + setServiceable(submodels->getBoolValue("serviceable", false)); + setSMPath(submodels->getStringValue("path", "")); + } + } 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); + ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad()); + ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad()); + + if ( _fx ) + { + // update model's audio sample values + _fx->set_position_geod( pos ); + + SGQuatd orient = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); + _fx->set_orientation( orient ); + + SGVec3d velocity; + velocity = SGVec3d( speed_north_deg_sec, speed_east_deg_sec, + pitch*speed ); + _fx->set_velocity( velocity ); + } + else if ((_modeldata)&&(_modeldata->needInitilization())) + { + // process deferred nasal initialization, + // which must be done in main thread + _modeldata->init(); + + // sound initialization + if (fgGetBool("/sim/sound/aimodels/enabled",false)) + { + string fxpath = _modeldata->get_sound_path(); + if (fxpath != "") + { + props->setStringValue("sim/sound/path", fxpath.c_str()); + + // initialize the sound configuration + stringstream name; + name << "aifx:"; + name << _refID; + _fx = new FGFX(name.str(), props); + _fx->init(); + } + } + } +} + +/** update LOD properties of the model */ +void FGAIBase::updateLOD() +{ + double maxRangeDetail = fgGetDouble("/sim/rendering/static-lod/ai-detailed", 10000.0); + double maxRangeBare = fgGetDouble("/sim/rendering/static-lod/ai-bare", 20000.0); + if (_model.valid()) + { + if( maxRangeDetail == 0.0 ) + { + // disable LOD + _model->setRange(0, 0.0, FLT_MAX); + _model->setRange(1, FLT_MAX, FLT_MAX); + } + else + { + _model->setRange(0, 0.0, maxRangeDetail); + _model->setRange(1, maxRangeDetail,maxRangeBare); + } + } } void FGAIBase::Transform() { + 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(); + aip.setVisible(true); + aip.setPosition(pos); + + if (no_roll) + aip.setOrientation(0.0, pitch, hdg); + else + aip.setOrientation(roll, pitch, hdg); + + aip.update(); + } else { + aip.setVisible(false); + aip.update(); } -} +} -bool FGAIBase::init() { +bool FGAIBase::init(bool search_in_AI_path) +{ + if (_model.valid()) + { + SG_LOG(SG_AI, SG_ALERT, "AIBase: Cannot initialize a model multiple times! " << model_path); + return false; + } - 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()); - fgSetString("/ai/models/model-added", props->getPath()); - } else { - if (!model_path.empty()) { - SG_LOG(SG_INPUT, SG_WARN, "AIBase: Could not load model " << model_path); - } - } + string f; + if(search_in_AI_path) + { + // setup a modified Options structure, with only the $fg-root/AI defined; + // we'll check that first, then give the normal search logic a chance. + // this ensures that models in AI/ are preferred to normal models, where + // both exist. + osg::ref_ptr + opt(osg::clone(osgDB::Registry::instance()->getOptions(), osg::CopyOp::SHALLOW_COPY)); + + SGPath ai_path(globals->get_fg_root(), "AI"); + opt->setDatabasePath(ai_path.str()); + + f = osgDB::findDataFile(model_path, opt.get()); + } - setDie(false); + if (f.empty()) { + f = simgear::SGModelLib::findDataFile(model_path); + } + + if(f.empty()) + f = fgGetString("/sim/multiplay/default-model", default_model); + else + _installed = true; + + _modeldata = new FGAIModelData(props); + osg::Node * mdl = SGModelLib::loadDeferredModel(f, props, _modeldata); + + _model = new osg::LOD; + _model->setName("AI-model range animation node"); + + _model->addChild( mdl, 0, FLT_MAX ); + _model->setCenterMode(osg::LOD::USE_BOUNDING_SPHERE_CENTER); + _model->setRangeMode(osg::LOD::DISTANCE_FROM_EYE_POINT); +// We really need low-resolution versions of AI/MP aircraft. +// Or at least dummy "stubs" with some default silhouette. +// _model->addChild( SGModelLib::loadPagedModel(fgGetString("/sim/multiplay/default-model", default_model), +// props, new FGNasalModelData(props)), FLT_MAX, FLT_MAX); + updateLOD(); + + initModel(mdl); + if (_model.valid() && _initialized == false) { + aip.init( _model.get() ); + aip.setVisible(true); + invisible = false; + globals->get_scenery()->get_scene_graph()->addChild(aip.getSceneGraph()); + _initialized = true; + + SG_LOG(SG_AI, SG_DEBUG, "AIBase: Loaded model " << model_path); + + } else if (!model_path.empty()) { + SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path); + // not properly installed... + _installed = false; + } - return true; + setDie(false); + return true; } - -ssgBranch * FGAIBase::load3DModel(const string& fg_root, - const string &path, - SGPropertyNode *prop_root, - double sim_time_sec) +void FGAIBase::initModel(osg::Node *node) { - // 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); - } + if (_model.valid()) { - return model; + if( _path != ""){ + props->setStringValue("submodels/path", _path.c_str()); + SG_LOG(SG_AI, SG_DEBUG, "AIBase: submodels/path " << _path); + } + + if( _parent!= ""){ + props->setStringValue("parent-name", _parent.c_str()); + } + + fgSetString("/ai/models/model-added", props->getPath().c_str()); + } else if (!model_path.empty()) { + SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path); + } + + setDie(false); } + bool FGAIBase::isa( object_type otype ) { - if ( otype == _otype ) - return true; - else - return false; + return otype == _otype; } void FGAIBase::bind() { - props->tie("id", SGRawValueMethods(*this, - &FGAIBase::getID)); - props->tie("velocities/true-airspeed-kt", SGRawValuePointer(&speed)); - props->tie("velocities/vertical-speed-fps", - SGRawValueMethods(*this, - &FGAIBase::_getVS_fps, - &FGAIBase::_setVS_fps)); - - props->tie("position/altitude-ft", - SGRawValueMethods(*this, - &FGAIBase::_getAltitude, - &FGAIBase::_setAltitude)); - props->tie("position/latitude-deg", - SGRawValueMethods(*this, - &FGAIBase::_getLatitude, - &FGAIBase::_setLatitude)); - props->tie("position/longitude-deg", - SGRawValueMethods(*this, - &FGAIBase::_getLongitude, - &FGAIBase::_setLongitude)); - - props->tie("orientation/pitch-deg", SGRawValuePointer(&pitch)); - props->tie("orientation/roll-deg", SGRawValuePointer(&roll)); - 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("radar/ht-diff-ft", SGRawValuePointer(&ht_diff)); - - props->tie("controls/lighting/nav-lights", - SGRawValueFunctions(_isNight)); - props->setBoolValue("controls/lighting/beacon", true); - props->setBoolValue("controls/lighting/strobe", true); - props->setBoolValue("controls/glide-path", true); + _tiedProperties.setRoot(props); + tie("id", SGRawValueMethods(*this, + &FGAIBase::getID)); + tie("velocities/true-airspeed-kt", SGRawValuePointer(&speed)); + tie("velocities/vertical-speed-fps", + SGRawValueMethods(*this, + &FGAIBase::_getVS_fps, + &FGAIBase::_setVS_fps)); + + tie("position/altitude-ft", + SGRawValueMethods(*this, + &FGAIBase::_getAltitude, + &FGAIBase::_setAltitude)); + tie("position/latitude-deg", + SGRawValueMethods(*this, + &FGAIBase::_getLatitude, + &FGAIBase::_setLatitude)); + tie("position/longitude-deg", + SGRawValueMethods(*this, + &FGAIBase::_getLongitude, + &FGAIBase::_setLongitude)); + + tie("position/global-x", + SGRawValueMethods(*this, + &FGAIBase::_getCartPosX, + 0)); + tie("position/global-y", + SGRawValueMethods(*this, + &FGAIBase::_getCartPosY, + 0)); + tie("position/global-z", + SGRawValueMethods(*this, + &FGAIBase::_getCartPosZ, + 0)); + tie("callsign", + SGRawValueMethods(*this, + &FGAIBase::_getCallsign, + 0)); + + tie("orientation/pitch-deg", SGRawValuePointer(&pitch)); + tie("orientation/roll-deg", SGRawValuePointer(&roll)); + tie("orientation/true-heading-deg", SGRawValuePointer(&hdg)); + + tie("radar/in-range", SGRawValuePointer(&in_range)); + tie("radar/bearing-deg", SGRawValuePointer(&bearing)); + tie("radar/elevation-deg", SGRawValuePointer(&elevation)); + tie("radar/range-nm", SGRawValuePointer(&range)); + tie("radar/h-offset", SGRawValuePointer(&horiz_offset)); + tie("radar/v-offset", SGRawValuePointer(&vert_offset)); + tie("radar/x-shift", SGRawValuePointer(&x_shift)); + tie("radar/y-shift", SGRawValuePointer(&y_shift)); + tie("radar/rotation", SGRawValuePointer(&rotation)); + tie("radar/ht-diff-ft", SGRawValuePointer(&ht_diff)); + tie("subID", SGRawValuePointer(&_subID)); + tie("controls/lighting/nav-lights", SGRawValueFunctions(_isNight)); + + props->setBoolValue("controls/lighting/beacon", true); + props->setBoolValue("controls/lighting/strobe", true); + props->setBoolValue("controls/glide-path", true); + + props->setStringValue("controls/flight/lateral-mode", "roll"); + props->setDoubleValue("controls/flight/target-hdg", hdg); + props->setDoubleValue("controls/flight/target-roll", roll); + + props->setStringValue("controls/flight/longitude-mode", "alt"); + props->setDoubleValue("controls/flight/target-alt", altitude_ft); + props->setDoubleValue("controls/flight/target-pitch", pitch); + + props->setDoubleValue("controls/flight/target-spd", speed); + + props->setBoolValue("sim/sound/avionics/enabled", false); + props->setDoubleValue("sim/sound/avionics/volume", 0.0); + props->setBoolValue("sim/sound/avionics/external-view", false); + props->setBoolValue("sim/current-view/internal", false); } void FGAIBase::unbind() { - props->untie("id"); - props->untie("velocities/true-airspeed-kt"); - props->untie("velocities/vertical-speed-fps"); + _tiedProperties.Untie(); - props->untie("position/altitude-ft"); - props->untie("position/latitude-deg"); - props->untie("position/longitude-deg"); + props->setBoolValue("/sim/controls/radar", true); - props->untie("orientation/pitch-deg"); - props->untie("orientation/roll-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("radar/ht-diff-ft"); - - props->untie("controls/lighting/nav-lights"); + // drop reference to sound effects now + _fx = 0; } -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; +double FGAIBase::UpdateRadar(FGAIManager* manager) { + bool control = fgGetBool("/sim/controls/radar", true); + + if(!control) return 0; + + double radar_range_ft2 = fgGetDouble("/instrumentation/radar/range"); + bool force_on = fgGetBool("/instrumentation/radar/debug-mode", false); + 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.getLatitudeDeg() - user_latitude) * ft_per_deg_lat; + double lon_range = fabs(pos.getLongitudeDeg() - 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 || force_on ) { + 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.getLatitudeDeg() >= user_latitude) { + bearing = atan2(lat_range, lon_range) * SG_RADIANS_TO_DEGREES; + if (pos.getLongitudeDeg() >= user_longitude) { + bearing = 90.0 - bearing; + } else { + bearing = 270.0 + bearing; + } } else { - bearing = 180.0 + bearing; + bearing = atan2(lon_range, lat_range) * SG_RADIANS_TO_DEGREES; + if (pos.getLongitudeDeg() >= 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 - 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 )); + + // This is an alternate way to compute bearing and distance which + // agrees with the original scheme within about 0.1 degrees. + // + // Point3D start( user_longitude * SGD_DEGREES_TO_RADIANS, + // user_latitude * SGD_DEGREES_TO_RADIANS, 0 ); + // Point3D dest( pos.getLongitudeRad(), pos.getLatitudeRad(), 0 ); + // double gc_bearing, gc_range; + // calc_gc_course_dist( start, dest, &gc_bearing, &gc_range ); + // gc_range *= SG_METER_TO_NM; + // gc_bearing *= SGD_RADIANS_TO_DEGREES; + // printf("orig b = %.3f %.2f gc b= %.3f, %.2f\n", + // bearing, range, gc_bearing, gc_range); + + // 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_ft - 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; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE? + + // 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; + ht_diff = altitude_ft - user_altitude; + + } + + return range_ft2; +} + +/* +* Getters and Setters */ - // now correct look left/right for yaw - horiz_offset += user_yaw; +SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const { + // Transform that one to the horizontal local coordinate system. + SGQuatd hlTrans = SGQuatd::fromLonLat(pos); + + // and postrotate the orientation of the AIModel wrt the horizontal + // local frame + hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); - // 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; - ht_diff = altitude - user_altitude; + // The offset converted to the usual body fixed coordinate system + // rotated to the earth fixed coordinates axis + SGVec3d off = hlTrans.backTransform(_off); - } + // Add the position offset of the AIModel to gain the earth centered position + SGVec3d cartPos = SGVec3d::fromGeod(pos); - return range_ft2; + return cartPos + off; } -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); +SGVec3d FGAIBase::getCartPos() const { + SGVec3d cartPos = SGVec3d::fromGeod(pos); + return cartPos; +} - // The offset converted to the usual body fixed coordinate system - // rotated to the earth fiexed coordinates axis - SGVec3d off = hlTrans.backTransform(_off); +bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev, + const simgear::BVHMaterial** material) const { + return globals->get_scenery()->get_elevation_m(pos, elev, material, + _model.get()); +} - // Add the position offset of the AIModel to gain the earth centered position - SGVec3d cartPos = SGGeod::fromDegFt(pos.lon(), pos.lat(), pos.elev()); +double FGAIBase::_getCartPosX() const { + SGVec3d cartPos = getCartPos(); + return cartPos.x(); +} - return cartPos + off; +double FGAIBase::_getCartPosY() const { + SGVec3d cartPos = getCartPos(); + return cartPos.y(); +} + +double FGAIBase::_getCartPosZ() const { + SGVec3d cartPos = getCartPos(); + return cartPos.z(); } -/* - * getters and Setters - */ void FGAIBase::_setLongitude( double longitude ) { - pos.setlon(longitude); + pos.setLongitudeDeg(longitude); } + void FGAIBase::_setLatitude ( double latitude ) { - pos.setlat(latitude); + pos.setLatitudeDeg(latitude); +} + +void FGAIBase::_setUserPos(){ + userpos.setLatitudeDeg(manager->get_user_latitude()); + userpos.setLongitudeDeg(manager->get_user_longitude()); + userpos.setElevationM(manager->get_user_altitude() * SG_FEET_TO_METER); +} + +void FGAIBase::_setSubID( int s ) { + _subID = s; +} + +bool FGAIBase::setParentNode() { + + if (_parent == ""){ + SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name + << " parent not set "); + return false; + } + + const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true); + + for (int i = ai->nChildren() - 1; i >= -1; i--) { + SGPropertyNode_ptr model; + + if (i < 0) { // last iteration: selected model + model = _selected_ac; + } else { + model = ai->getChild(i); + string path = ai->getPath(); + const string name = model->getStringValue("name"); + + if (!model->nChildren()){ + continue; + } + if (name == _parent) { + _selected_ac = model; // save selected model for last iteration + break; + } + + } + if (!model) + continue; + + }// end for loop + + if (_selected_ac != 0){ + const string name = _selected_ac->getStringValue("name"); + return true; + } else { + SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name + << " parent not found: dying "); + setDie(true); + return false; + } + } double FGAIBase::_getLongitude() const { - return pos.lon(); + return pos.getLongitudeDeg(); } -double FGAIBase::_getLatitude () const { - return pos.lat(); + +double FGAIBase::_getLatitude() const { + return pos.getLatitudeDeg(); } + +double FGAIBase::_getElevationFt() const { + return pos.getElevationFt(); +} + double FGAIBase::_getRdot() const { return rdot; } + double FGAIBase::_getVS_fps() const { - return vs*60.0; + return vs/60.0; } + +double FGAIBase::_get_speed_east_fps() const { + return speed_east_deg_sec * ft_per_deg_lon; +} + +double FGAIBase::_get_speed_north_fps() const { + return speed_north_deg_sec * ft_per_deg_lat; +} + void FGAIBase::_setVS_fps( double _vs ) { - vs = _vs/60.0; + vs = _vs*60.0; } double FGAIBase::_getAltitude() const { - return altitude; + return altitude_ft; +} + +double FGAIBase::_getAltitudeAGL(SGGeod inpos, double start){ + getGroundElevationM(SGGeod::fromGeodM(inpos, start), + _elevation_m, NULL); + return inpos.getElevationFt() - _elevation_m * SG_METER_TO_FEET; +} + +bool FGAIBase::_getServiceable() const { + return serviceable; +} + +SGPropertyNode* FGAIBase::_getProps() const { + return props; } + void FGAIBase::_setAltitude( double _alt ) { setAltitude( _alt ); } @@ -393,25 +753,116 @@ bool FGAIBase::_isNight() { return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57); } +bool FGAIBase::_getCollisionData() { + return _collision_reported; +} + +bool FGAIBase::_getExpiryData() { + return _expiry_reported; +} + +bool FGAIBase::_getImpactData() { + return _impact_reported; +} + +double FGAIBase::_getImpactLat() const { + return _impact_lat; +} + +double FGAIBase::_getImpactLon() const { + return _impact_lon; +} + +double FGAIBase::_getImpactElevFt() const { + return _impact_elev * SG_METER_TO_FEET; +} + +double FGAIBase::_getImpactPitch() const { + return _impact_pitch; +} + +double FGAIBase::_getImpactRoll() const { + return _impact_roll; +} + +double FGAIBase::_getImpactHdg() const { + return _impact_hdg; +} + +double FGAIBase::_getImpactSpeed() const { + return _impact_speed; +} + int FGAIBase::getID() const { return _refID; } +int FGAIBase::_getSubID() const { + return _subID; +} + +double FGAIBase::_getSpeed() const { + return speed; +} + +double FGAIBase::_getRoll() const { + return roll; +} + +double FGAIBase::_getPitch() const { + return pitch; +} + +double FGAIBase::_getHeading() const { + return hdg; +} + +double FGAIBase::_getXOffset() const { + return _x_offset; +} + +double FGAIBase::_getYOffset() const { + return _y_offset; +} + +double FGAIBase::_getZOffset() const { + return _z_offset; +} + +const char* FGAIBase::_getPath() const { + return model_path.c_str(); +} + +const char* FGAIBase::_getSMPath() const { + return _path.c_str(); +} + +const char* FGAIBase::_getName() const { + return _name.c_str(); +} + +const char* FGAIBase::_getCallsign() const { + return _callsign.c_str(); +} + +const char* FGAIBase::_getSubmodel() const { + return _submodel.c_str(); +} + void FGAIBase::CalculateMach() { // Calculate rho at altitude, using standard atmosphere // For the temperature T and the pressure p, + double altitude = altitude_ft; if (altitude < 36152) { // curve fits for the troposphere - T = 59 - 0.00356 * altitude; - p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256); - + 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) ); - + 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); + T = -205.05 + (0.00164 * altitude); + p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388); } rho = p / (1718 * (T + 459.7)); @@ -421,21 +872,46 @@ void FGAIBase::CalculateMach() { // 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 - + // 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; + // cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl; } int FGAIBase::_newAIModelID() { static int id = 0; - if (!++id) - id++; // id = 0 is not allowed. - return id; + + if (!++id) + id++; // id = 0 is not allowed. + + return id; +} + + +FGAIModelData::FGAIModelData(SGPropertyNode *root) + : _nasal( new FGNasalModelDataProxy(root) ), + _ready(false), + _initialized(false) +{ +} + +FGAIModelData::~FGAIModelData() +{ + delete _nasal; + _nasal = NULL; } +void FGAIModelData::modelLoaded(const string& path, SGPropertyNode *prop, osg::Node *n) +{ + // WARNING: Called in a separate OSG thread! Only use thread-safe stuff here... + if (_ready) + return; + + _fxpath = prop->getStringValue("sound/path"); + _nasal->modelLoaded(path, prop, n); + + _ready = true; +}