X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAICarrier.cxx;h=fae5d26bc38b91b76ee9028d99b8d091a117ca78;hb=52e5a9abe83882ca946429f7d8e71894d5852d8f;hp=1a9a1d2b72dc51fddfadfd4ed221ca26b474a3c7;hpb=6fb7b8ead928316eab1d141c8890452a5e2d8268;p=flightgear.git diff --git a/src/AIModel/AICarrier.cxx b/src/AIModel/AICarrier.cxx index 1a9a1d2b7..fae5d26bc 100644 --- a/src/AIModel/AICarrier.cxx +++ b/src/AIModel/AICarrier.cxx @@ -25,77 +25,14 @@ #include #include -#include - -#include +#include #include -#include #include #include
-#include
#include "AICarrier.hxx" -class FGCarrierVisitor : public osg::NodeVisitor { -public: - FGCarrierVisitor(FGAICarrier* carrier, - const std::list& wireObjects, - const std::list& catapultObjects, - const std::list& solidObjects) : - osg::NodeVisitor(osg::NodeVisitor::NODE_VISITOR, - osg::NodeVisitor::TRAVERSE_ALL_CHILDREN), - mWireObjects(wireObjects), - mCatapultObjects(catapultObjects), - mSolidObjects(solidObjects), - mFoundHot(false), - mCarrier(carrier) - { } - virtual void apply(osg::Node& node) - { - osg::ref_ptr oldUserData = mUserData; - bool oldFoundHot = mFoundHot; - mFoundHot = false; - - if (std::find(mWireObjects.begin(), mWireObjects.end(), node.getName()) - != mWireObjects.end()) { - mFoundHot = true; - mUserData = FGAICarrierHardware::newWire(mCarrier); - } - if (std::find(mCatapultObjects.begin(), mCatapultObjects.end(), node.getName()) - != mCatapultObjects.end()) { - mFoundHot = true; - mUserData = FGAICarrierHardware::newCatapult(mCarrier); - } - if (std::find(mSolidObjects.begin(), mSolidObjects.end(), node.getName()) - != mSolidObjects.end()) { - mFoundHot = true; - mUserData = FGAICarrierHardware::newSolid(mCarrier); - //SG_LOG(SG_GENERAL, SG_ALERT, "AICarrierVisitor::apply() solidObject" ); - } - node.setUserData(mUserData.get()); - - traverse(node); - - mFoundHot = oldFoundHot || mFoundHot; - - if (mFoundHot) { - node.setNodeMask(node.getNodeMask() | SG_NODEMASK_TERRAIN_BIT); - } else - node.setNodeMask(node.getNodeMask() & ~SG_NODEMASK_TERRAIN_BIT); - - mUserData = oldUserData; - } - -private: - std::list mWireObjects; - std::list mCatapultObjects; - std::list mSolidObjects; - bool mFoundHot; - FGAICarrier* mCarrier; - osg::ref_ptr mUserData; -}; - FGAICarrier::FGAICarrier() : FGAIShip(otCarrier) { } @@ -117,6 +54,10 @@ void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) { setMinLat(scFileNode->getDoubleValue("min-lat", 0)); setMaxLong(scFileNode->getDoubleValue("max-long", 0)); setMinLong(scFileNode->getDoubleValue("min-long", 0)); + setMPControl(scFileNode->getBoolValue("mp-control", false)); + setAIControl(scFileNode->getBoolValue("ai-control", false)); + setCallSign(scFileNode->getStringValue("callsign", "")); + SGPropertyNode* flols = scFileNode->getChild("flols-pos"); if (flols) { @@ -129,31 +70,10 @@ void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) { } else flols_off = SGVec3d::zeros(); - std::vector props = scFileNode->getChildren("wire"); + std::vector props = scFileNode->getChildren("parking-pos"); std::vector::const_iterator it; for (it = props.begin(); it != props.end(); ++it) { - std::string s = (*it)->getStringValue(); - if (!s.empty()) - wire_objects.push_back(s); - } - - props = scFileNode->getChildren("catapult"); - for (it = props.begin(); it != props.end(); ++it) { - std::string s = (*it)->getStringValue(); - if (!s.empty()) - catapult_objects.push_back(s); - } - - props = scFileNode->getChildren("solid"); - for (it = props.begin(); it != props.end(); ++it) { - std::string s = (*it)->getStringValue(); - if (!s.empty()) - solid_objects.push_back(s); - } - - props = scFileNode->getChildren("parking-pos"); - for (it = props.begin(); it != props.end(); ++it) { - string name = (*it)->getStringValue("name", "unnamed"); + const string name = (*it)->getStringValue("name", "unnamed"); // Transform to the right coordinate frame, configuration is done in // the usual x-back, y-right, z-up coordinates, computations // in the simulation usual body x-forward, y-right, z-down coordinates @@ -198,81 +118,54 @@ void FGAICarrier::setTACANChannelID(const string& id) { TACAN_channel_id = id; } -void FGAICarrier::getVelocityWrtEarth(SGVec3d& v, SGVec3d& omega, SGVec3d& pivot) { - v = vel_wrt_earth; - omega = rot_wrt_earth; - pivot = rot_pivot_wrt_earth; +void FGAICarrier::setMPControl(bool c) { + MPControl = c; } -void FGAICarrier::update(double dt) { - // For computation of rotation speeds we just use finite differences here. - // That is perfectly valid since this thing is not driven by accelerations - // but by just apply discrete changes at its velocity variables. - // Update the velocity information stored in those nodes. - // Transform that one to the horizontal local coordinate system. - SGQuatd ec2hl = SGQuatd::fromLonLat(pos); - // The orientation of the carrier wrt the horizontal local frame - SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); - // and postrotate the orientation of the AIModel wrt the horizontal - // local frame - SGQuatd ec2body = ec2hl*hl2body; - // The cartesian position of the carrier in the wgs84 world - SGVec3d cartPos = SGVec3d::fromGeod(pos); - // Store for later use by the groundcache - rot_pivot_wrt_earth = cartPos; - - // Compute the velocity in m/s in the earth centered coordinate system axis - double v_north = 0.51444444*speed*cos(hdg * SGD_DEGREES_TO_RADIANS); - double v_east = 0.51444444*speed*sin(hdg * SGD_DEGREES_TO_RADIANS); - vel_wrt_earth = ec2hl.backTransform(SGVec3d(v_north, v_east, 0)); +void FGAICarrier::setAIControl(bool c) { + AIControl = c; +} +void FGAICarrier::update(double dt) { // Now update the position and heading. This will compute new hdg and // roll values required for the rotation speed computation. FGAIShip::update(dt); - //automatic turn into wind with a target wind of 25 kts otd - if(turn_to_launch_hdg){ - TurnToLaunch(); - } else if(OutsideBox() || returning) {// check that the carrier is inside the operating box - ReturnToBox(); - } else { - TurnToBase(); - } + //SG_LOG(SG_AI, SG_ALERT, "AICarrier: MPControl " << MPControl << " AIControl " << AIControl); + if (!MPControl && AIControl){ + + if(turn_to_launch_hdg){ + TurnToLaunch(); + } else if(turn_to_recovery_hdg ){ + TurnToRecover(); + } else if(OutsideBox() || returning ) {// check that the carrier is inside + ReturnToBox(); // the operating box, + } else { + TurnToBase(); + } - // Only change these values if we are able to compute them safely - if (dt < DBL_MIN) - rot_wrt_earth = SGVec3d::zeros(); - else { - // Now here is the finite difference ... - - // Transform that one to the horizontal local coordinate system. - SGQuatd ec2hlNew = SGQuatd::fromLonLat(pos); - // compute the new orientation - SGQuatd hl2bodyNew = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); - // The rotation difference - SGQuatd dOr = inverse(ec2body)*ec2hlNew*hl2bodyNew; - SGVec3d dOrAngleAxis; - dOr.getAngleAxis(dOrAngleAxis); - // divided by the time difference provides a rotation speed vector - dOrAngleAxis /= dt; - - // now rotate the rotation speed vector back into the - // earth centered frames coordinates - dOrAngleAxis = ec2body.backTransform(dOrAngleAxis); -// dOrAngleAxis = hl2body.backTransform(dOrAngleAxis); -// dOrAngleAxis(1) = 0; -// dOrAngleAxis = ec2hl.backTransform(dOrAngleAxis); - rot_wrt_earth = dOrAngleAxis; + } else { + FGAIShip::TurnTo(tgt_heading); + FGAIShip::AccelTo(tgt_speed); } UpdateWind(dt); UpdateElevator(dt, transition_time); UpdateJBD(dt, jbd_transition_time); - // For the flols reuse some computations done above ... + + // Transform that one to the horizontal local coordinate system. + SGQuatd ec2hl = SGQuatd::fromLonLat(pos); + // The orientation of the carrier wrt the horizontal local frame + SGQuatd hl2body = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll); + // and postrotate the orientation of the AIModel wrt the horizontal + // local frame + SGQuatd ec2body = ec2hl*hl2body; + // The cartesian position of the carrier in the wgs84 world + SGVec3d cartPos = SGVec3d::fromGeod(pos); // The position of the eyepoint - at least near that ... - SGVec3d eyePos(globals->get_current_view()->get_view_pos()); + SGVec3d eyePos(globals->get_view_position_cart()); // Add the position offset of the AIModel to gain the earth // centered position SGVec3d eyeWrtCarrier = eyePos - cartPos; @@ -280,10 +173,10 @@ void FGAICarrier::update(double dt) { eyeWrtCarrier = ec2body.transform(eyeWrtCarrier); // the eyepoints vector wrt the flols position SGVec3d eyeWrtFlols = eyeWrtCarrier - flols_off; - + // the distance from the eyepoint to the flols dist = norm(eyeWrtFlols); - + // now the angle, positive angles are upwards if (fabs(dist) < SGLimits::min()) { angle = 0; @@ -292,7 +185,7 @@ void FGAICarrier::update(double dt) { sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle)); angle = SGMiscd::rad2deg(asin(sAngle)); } - + // set the value of source if ( angle <= 4.35 && angle > 4.01 ) source = 1; @@ -327,13 +220,16 @@ bool FGAICarrier::init(bool search_in_AI_path) { turn_to_launch_hdg = false; + turn_to_recovery_hdg = false; + turn_to_base_course = true; returning = false; + in_to_wind = false; mOpBoxPos = pos; base_course = hdg; base_speed = speed; - pos_norm = 0; + pos_norm = raw_pos_norm = 0; elevators = false; transition_time = 150; time_constant = 0.005; @@ -344,80 +240,67 @@ bool FGAICarrier::init(bool search_in_AI_path) { return true; } -void FGAICarrier::initModel(osg::Node *node) -{ - // SG_LOG(SG_GENERAL, SG_BULK, "AICarrier::initModel()" ); - FGAIShip::initModel(node); - // process the 3d model here - // mark some objects solid, mark the wires ... - - // The model should be used for altitude computations. - // To avoid that every detail in a carrier 3D model will end into - // the aircraft local cache, only set the HOT traversal bit on - // selected objects. - - // Clear the HOT traversal flag - // Selectively set that flag again for wires/cats/solid objects. - // Attach a pointer to this carrier class to those objects. - // SG_LOG(SG_GENERAL, SG_BULK, "AICarrier::initModel() visit" ); - FGCarrierVisitor carrierVisitor(this, wire_objects, catapult_objects, solid_objects); - model->accept(carrierVisitor); -// model->setNodeMask(node->getNodeMask() & SG_NODEMASK_TERRAIN_BIT | model->getNodeMask()); -} - void FGAICarrier::bind() { FGAIShip::bind(); props->untie("velocities/true-airspeed-kt"); - props->tie("controls/flols/source-lights", - SGRawValuePointer(&source)); - props->tie("controls/flols/distance-m", - SGRawValuePointer(&dist)); - props->tie("controls/flols/angle-degs", - SGRawValuePointer(&angle)); - props->tie("controls/turn-to-launch-hdg", - SGRawValuePointer(&turn_to_launch_hdg)); - props->tie("controls/in-to-wind", - SGRawValuePointer(&turn_to_launch_hdg)); - props->tie("controls/base-course-deg", - SGRawValuePointer(&base_course)); - props->tie("controls/base-speed-kts", - SGRawValuePointer(&base_speed)); - props->tie("controls/start-pos-lat-deg", - SGRawValueMethods(pos, &SGGeod::getLatitudeDeg)); - props->tie("controls/start-pos-long-deg", - SGRawValueMethods(pos, &SGGeod::getLongitudeDeg)); - props->tie("velocities/speed-kts", - SGRawValuePointer(&speed)); - props->tie("environment/surface-wind-speed-true-kts", - SGRawValuePointer(&wind_speed_kts)); - props->tie("environment/surface-wind-from-true-degs", - SGRawValuePointer(&wind_from_deg)); - props->tie("environment/rel-wind-from-degs", - SGRawValuePointer(&rel_wind_from_deg)); - props->tie("environment/rel-wind-from-carrier-hdg-degs", - SGRawValuePointer(&rel_wind)); - props->tie("environment/rel-wind-speed-kts", - SGRawValuePointer(&rel_wind_speed_kts)); - props->tie("controls/flols/wave-off-lights", - SGRawValuePointer(&wave_off_lights)); - props->tie("controls/elevators", - SGRawValuePointer(&elevators)); - props->tie("surface-positions/elevators-pos-norm", - SGRawValuePointer(&pos_norm)); - props->tie("controls/elevators-trans-time-s", - SGRawValuePointer(&transition_time)); - props->tie("controls/elevators-time-constant", - SGRawValuePointer(&time_constant)); - props->tie("controls/jbd", + tie("controls/flols/source-lights", + SGRawValuePointer(&source)); + tie("controls/flols/distance-m", + SGRawValuePointer(&dist)); + tie("controls/flols/angle-degs", + SGRawValuePointer(&angle)); + tie("controls/turn-to-launch-hdg", + SGRawValuePointer(&turn_to_launch_hdg)); + tie("controls/in-to-wind", + SGRawValuePointer(&turn_to_launch_hdg)); + tie("controls/base-course-deg", + SGRawValuePointer(&base_course)); + tie("controls/base-speed-kts", + SGRawValuePointer(&base_speed)); + tie("controls/start-pos-lat-deg", + SGRawValueMethods(pos, &SGGeod::getLatitudeDeg)); + tie("controls/start-pos-long-deg", + SGRawValueMethods(pos, &SGGeod::getLongitudeDeg)); + tie("controls/mp-control", + SGRawValuePointer(&MPControl)); + tie("controls/ai-control", + SGRawValuePointer(&AIControl)); + tie("environment/surface-wind-speed-true-kts", + SGRawValuePointer(&wind_speed_kts)); + tie("environment/surface-wind-from-true-degs", + SGRawValuePointer(&wind_from_deg)); + tie("environment/rel-wind-from-degs", + SGRawValuePointer(&rel_wind_from_deg)); + tie("environment/rel-wind-from-carrier-hdg-degs", + SGRawValuePointer(&rel_wind)); + tie("environment/rel-wind-speed-kts", + SGRawValuePointer(&rel_wind_speed_kts)); + tie("environment/in-to-wind", + SGRawValuePointer(&in_to_wind)); + //tie("controls/flols/wave-off-lights", + // SGRawValuePointer(&wave_off_lights)); + tie("controls/elevators", + SGRawValuePointer(&elevators)); + tie("surface-positions/elevators-pos-norm", + SGRawValuePointer(&pos_norm)); + tie("controls/constants/elevators/trans-time-s", + SGRawValuePointer(&transition_time)); + tie("controls/constants/elevators/time-constant", + SGRawValuePointer(&time_constant)); + tie("controls/jbd", SGRawValuePointer(&jbd)); - props->tie("surface-positions/jbd-pos-norm", + tie("surface-positions/jbd-pos-norm", SGRawValuePointer(&jbd_pos_norm)); - props->tie("controls/jbd-trans-time-s", + tie("controls/constants/jbd/trans-time-s", SGRawValuePointer(&jbd_transition_time)); - props->tie("controls/jbd-time-constant", + tie("controls/constants/jbd/time-constant", SGRawValuePointer(&jbd_time_constant)); + tie("controls/turn-to-recovery-hdg", + SGRawValuePointer(&turn_to_recovery_hdg)); + tie("controls/turn-to-base-course", + SGRawValuePointer(&turn_to_base_course)); props->setBoolValue("controls/flols/cut-lights", false); props->setBoolValue("controls/flols/wave-off-lights", false); @@ -425,35 +308,10 @@ void FGAICarrier::bind() { props->setBoolValue("controls/crew", false); props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str()); props->setStringValue("sign", sign.c_str()); + props->setBoolValue("controls/lighting/deck-lights", false); + props->setDoubleValue("controls/lighting/flood-lights-red-norm", 0); } - -void FGAICarrier::unbind() { - FGAIShip::unbind(); - - props->untie("velocities/true-airspeed-kt"); - props->untie("controls/flols/source-lights"); - props->untie("controls/flols/distance-m"); - props->untie("controls/flols/angle-degs"); - props->untie("controls/turn-to-launch-hdg"); - props->untie("velocities/speed-kts"); - props->untie("environment/wind-speed-true-kts"); - props->untie("environment/wind-from-true-degs"); - props->untie("environment/rel-wind-from-degs"); - props->untie("environment/rel-wind-speed-kts"); - props->untie("controls/flols/wave-off-lights"); - props->untie("controls/elevators"); - props->untie("surface-positions/elevators-pos-norm"); - props->untie("controls/elevators-trans-time-secs"); - props->untie("controls/elevators-time-constant"); - props->untie("controls/jbd"); - props->untie("surface-positions/jbd-pos-norm"); - props->untie("controls/jbd-trans-time-s"); - props->untie("controls/jbd-time-constant"); - -} - - bool FGAICarrier::getParkPosition(const string& id, SGGeod& geodPos, double& hdng, SGVec3d& uvw) { @@ -482,17 +340,6 @@ bool FGAICarrier::getParkPosition(const string& id, SGGeod& geodPos, // find relative wind void FGAICarrier::UpdateWind( double dt) { - double recip; - - //calculate the reciprocal hdg - - if (hdg >= 180) - recip = hdg - 180; - else - recip = hdg + 180; - - //cout <<" heading: " << hdg << "recip: " << recip << endl; - //get the surface wind speed and direction wind_from_deg = _surface_wind_from_deg_node->getDoubleValue(); wind_speed_kts = _surface_wind_speed_node->getDoubleValue(); @@ -514,27 +361,21 @@ void FGAICarrier::UpdateWind( double dt) { + (rel_wind_speed_from_north_kts * rel_wind_speed_from_north_kts)); //calculate the relative wind direction - rel_wind_from_deg = atan(rel_wind_speed_from_east_kts/rel_wind_speed_from_north_kts) + rel_wind_from_deg = atan2(rel_wind_speed_from_east_kts, rel_wind_speed_from_north_kts) * SG_RADIANS_TO_DEGREES; - // rationalise the output - if (rel_wind_speed_from_north_kts <= 0) { - rel_wind_from_deg = 180 + rel_wind_from_deg; - } else { - if(rel_wind_speed_from_east_kts <= 0) - rel_wind_from_deg = 360 + rel_wind_from_deg; - } - //calculate rel wind rel_wind = rel_wind_from_deg - hdg; - if (rel_wind > 180) - rel_wind -= 360; + SG_NORMALIZE_RANGE(rel_wind, -180.0, 180.0); + + //set in to wind property + InToWind(); //switch the wave-off lights - if (InToWind()) - wave_off_lights = false; - else - wave_off_lights = true; + //if (InToWind()) + // wave_off_lights = false; + //else + // wave_off_lights = true; // cout << "rel wind: " << rel_wind << endl; @@ -543,18 +384,52 @@ void FGAICarrier::UpdateWind( double dt) { void FGAICarrier::TurnToLaunch(){ + // calculate tgt heading + if (wind_speed_kts < 3){ + tgt_heading = base_course; + } else { + tgt_heading = wind_from_deg; + } + //calculate tgt speed double tgt_speed = 25 - wind_speed_kts; if (tgt_speed < 10) tgt_speed = 10; //turn the carrier - FGAIShip::TurnTo(wind_from_deg); + FGAIShip::TurnTo(tgt_heading); FGAIShip::AccelTo(tgt_speed); } +void FGAICarrier::TurnToRecover(){ + + //these are the rules for adjusting heading to provide a relative wind + //down the angled flightdeck + if (wind_speed_kts < 3){ + tgt_heading = base_course + 60; + } else if (rel_wind < -9 && rel_wind >= -180){ + tgt_heading = wind_from_deg; + } else if (rel_wind > -7 && rel_wind < 45){ + tgt_heading = wind_from_deg + 60; + } else if (rel_wind >=45 && rel_wind < 180){ + tgt_heading = wind_from_deg + 45; + } else + tgt_heading = hdg; + + SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0); + + //calculate tgt speed + double tgt_speed = 26 - wind_speed_kts; + if (tgt_speed < 10) + tgt_speed = 10; + + //turn the carrier + FGAIShip::TurnTo(tgt_heading); + FGAIShip::AccelTo(tgt_speed); + +} void FGAICarrier::TurnToBase(){ //turn the carrier @@ -588,7 +463,7 @@ void FGAICarrier::ReturnToBox(){ bool FGAICarrier::OutsideBox() { //returns true if the carrier is outside operating box if ( max_lat == 0 && min_lat == 0 && max_long == 0 && min_long == 0) { - SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: No Operating Box defined" ); + SG_LOG(SG_AI, SG_DEBUG, "AICarrier: No Operating Box defined" ); return false; } @@ -622,16 +497,18 @@ bool FGAICarrier::OutsideBox() { //returns true if the carrier is outside operat return true; } - SG_LOG(SG_GENERAL, SG_DEBUG, "AICarrier: Inside Operating Box" ); return false; } // end OutsideBox bool FGAICarrier::InToWind() { - if ( fabs(rel_wind) < 5 ) - return true; + in_to_wind = false; + if ( fabs(rel_wind) < 10 ){ + in_to_wind = true; + return true; + } return false; } @@ -671,7 +548,7 @@ void FGAICarrier::UpdateElevator(double dt, double transition_time) { void FGAICarrier::UpdateJBD(double dt, double jbd_transition_time) { - string launchbar_state = _launchbar_state_node->getStringValue(); + const string launchbar_state = _launchbar_state_node->getStringValue(); double step = 0; if (launchbar_state == "Engaged"){ @@ -711,7 +588,3 @@ void FGAICarrier::UpdateJBD(double dt, double jbd_transition_time) { return; } // end UpdateJBD - - -int FGAICarrierHardware::unique_id = 1; -