X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIEscort.cxx;h=9a816675597d88283aad6a25b43bb5b28472840c;hb=9d995907db00728da7eac9297ecbab93ed8a7400;hp=80ef3232579af69fa89973d241c883a3f21aab7a;hpb=3922c121631a159d911a96353aad06a3d8896769;p=flightgear.git

diff --git a/src/AIModel/AIEscort.cxx b/src/AIModel/AIEscort.cxx
index 80ef32325..9a8166755 100644
--- a/src/AIModel/AIEscort.cxx
+++ b/src/AIModel/AIEscort.cxx
@@ -27,35 +27,34 @@
 #include <vector>
 
 #include <simgear/sg_inlines.h>
-#include <simgear/math/SGMath.hxx>
 #include <simgear/math/sg_geodesy.hxx>
+#include <simgear/math/sg_random.h>
 
 #include <math.h>
 #include <Main/util.hxx>
-#include <Main/viewer.hxx>
+#include <Viewer/viewer.hxx>
 
 #include <Scenery/scenery.hxx>
-#include <Scenery/tilemgr.hxx>
 
 #include "AIEscort.hxx"
 
+using std::string;
+
 FGAIEscort::FGAIEscort() :
 FGAIShip(otEscort),
 
-_selected_ac(0),
 _relbrg (0),
-_stn_truebrg(0),
 _parent_speed(0),
-_stn_limit(0),
-_stn_angle_limit(0),
-_stn_speed(0),
+_interval(0),
+_stn_truebrg(0),
 _stn_height(0),
+_stn_speed(0),
+_stn_angle_limit(0),
+_stn_limit(0),
 _max_speed(0),
-_interval(0),
 _MPControl(false),
 _patrol(false),
-_stn_deg_true(false),
-_parent("")
+_stn_deg_true(false)
 
 {
     invisible = false;
@@ -92,60 +91,53 @@ void FGAIEscort::readFromScenario(SGPropertyNode* scFileNode) {
 void FGAIEscort::bind() {
     FGAIShip::bind();
 
-    props->tie("station/rel-bearing-deg",
+    tie("station/rel-bearing-deg",
         SGRawValuePointer<double>(&_stn_relbrg));
-    props->tie("station/true-bearing-deg",
+    tie("station/true-bearing-deg",
         SGRawValuePointer<double>(&_stn_truebrg));
-    props->tie("station/range-nm",
+    tie("station/range-nm",
         SGRawValuePointer<double>(&_stn_range));
-    props->tie("station/range-limit-nm",
+    tie("station/range-limit-nm",
         SGRawValuePointer<double>(&_stn_limit));
-    props->tie("station/angle-limit-deg",
+    tie("station/angle-limit-deg",
         SGRawValuePointer<double>(&_stn_angle_limit));
-    props->tie("station/speed-kts",
+    tie("station/speed-kts",
         SGRawValuePointer<double>(&_stn_speed));
-    props->tie("station/height-ft",
+    tie("station/height-ft",
         SGRawValuePointer<double>(&_stn_height));
-    props->tie("controls/update-interval-sec",
+    tie("controls/update-interval-sec",
         SGRawValuePointer<double>(&_interval));
-    props->tie("controls/parent-mp-control",
+    tie("controls/parent-mp-control",
         SGRawValuePointer<bool>(&_MPControl));
-    props->tie("station/target-range-nm",
+    tie("station/target-range-nm",
         SGRawValuePointer<double>(&_tgtrange));
-    props->tie("station/target-brg-deg-t",
+    tie("station/target-brg-deg-t",
         SGRawValuePointer<double>(&_tgtbrg));
-    props->tie("station/patrol",
+    tie("station/patrol",
         SGRawValuePointer<bool>(&_patrol));
 }
 
-void FGAIEscort::unbind() {
-    FGAIShip::unbind();
-
-    props->untie("station/rel-bearing-deg");
-    props->untie("station/true-bearing-deg");
-    props->untie("station/range-nm");
-    props->untie("station/range-limit-nm");
-    props->untie("station/angle-limit-deg");
-    props->untie("station/speed-kts");
-    props->untie("station/height-ft");
-    props->untie("controls/update-interval-sec");
-
-}
-
 bool FGAIEscort::init(bool search_in_AI_path) {
     if (!FGAIShip::init(search_in_AI_path))
         return false;
+    reinit();
+    return true;
+}
 
+void FGAIEscort::reinit() {
     invisible = false;
     no_roll = false;
 
     props->setStringValue("controls/parent-name", _parent.c_str());
-    setParent();
-    pos = _tgtpos;
-    speed = _parent_speed;
-    hdg = _parent_hdg;
 
-    return true;
+    if (setParentNode()){
+        setParent();
+        pos = _tgtpos;
+        speed = _parent_speed;
+        hdg = _parent_hdg;
+    }
+
+    FGAIShip::reinit();
 }
 
 void FGAIEscort::update(double dt) {
@@ -194,21 +186,19 @@ void FGAIEscort::setStnPatrol(bool p) {
     _patrol = p;
 }
 
-void FGAIEscort::setParentName(const string& p) {
-    _parent = p;
-}
-
 bool FGAIEscort::getGroundElev(SGGeod inpos) {
 
     double height_m ;
 
-    if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(inpos, 3000), height_m, &_material,0)){
+    const simgear::BVHMaterial* mat = 0;
+    if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(inpos, 3000), height_m, &mat, 0)){
+        const SGMaterial* material = dynamic_cast<const SGMaterial*>(mat);
         _ht_agl_ft = inpos.getElevationFt() - height_m * SG_METER_TO_FEET;
 
-        if (_material) {
-            const vector<string>& names = _material->get_names();
+        if (material) {
+            const std::vector<std::string>& names = material->get_names();
 
-            _solid = _material->get_solid();
+            _solid = material->get_solid();
 
             if (!names.empty())
                 props->setStringValue("material/name", names[0].c_str());
@@ -231,75 +221,41 @@ bool FGAIEscort::getGroundElev(SGGeod inpos) {
 
 }
 
-void FGAIEscort::setParent() {
-
-    const SGPropertyNode *ai = fgGetNode("/ai/models", true);
-
-    for (int i = ai->nChildren() - 1; i >= -1; i--) {
-        const SGPropertyNode *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");
-        double lat = _selected_ac->getDoubleValue("position/latitude-deg");
-        double lon = _selected_ac->getDoubleValue("position/longitude-deg");
-        double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
-        _MPControl = _selected_ac->getBoolValue("controls/mp-control");
-
-        _selectedpos.setLatitudeDeg(lat);
-        _selectedpos.setLongitudeDeg(lon);
-        _selectedpos.setElevationFt(elevation);
-
-        _parent_speed    = _selected_ac->getDoubleValue("velocities/speed-kts");
-        _parent_hdg      = _selected_ac->getDoubleValue("orientation/true-heading-deg");
-
-        if(!_stn_deg_true){
-            _stn_truebrg = calcTrueBearingDeg(_stn_brg, _parent_hdg);
-            _stn_relbrg = _stn_brg;
-            //cout << _name <<" set rel"<<endl;
-        } else {
-            _stn_truebrg = _stn_brg;
-            _stn_relbrg = calcRelBearingDeg(_stn_brg, _parent_hdg); 
-            //cout << _name << " set true"<<endl;
-        }
-
-        double course2;
+void FGAIEscort::setParent()
+{
+    double lat = _selected_ac->getDoubleValue("position/latitude-deg");
+    double lon = _selected_ac->getDoubleValue("position/longitude-deg");
+    double elevation = _selected_ac->getDoubleValue("position/altitude-ft");
+    _MPControl = _selected_ac->getBoolValue("controls/mp-control");
+
+    _selectedpos.setLatitudeDeg(lat);
+    _selectedpos.setLongitudeDeg(lon);
+    _selectedpos.setElevationFt(elevation);
+
+    _parent_speed    = _selected_ac->getDoubleValue("velocities/speed-kts");
+    _parent_hdg      = _selected_ac->getDoubleValue("orientation/true-heading-deg");
+
+    if(!_stn_deg_true){
+        _stn_truebrg = calcTrueBearingDeg(_stn_brg, _parent_hdg);
+        _stn_relbrg = _stn_brg;
+        //cout << _name <<" set rel"<<endl;
+    } else {
+        _stn_truebrg = _stn_brg;
+        _stn_relbrg = calcRelBearingDeg(_stn_brg, _parent_hdg); 
+        //cout << _name << " set true"<<endl;
+    }
 
-        SGGeodesy::direct( _selectedpos, _stn_truebrg, _stn_range * SG_NM_TO_METER,
-            _tgtpos, course2);
+    double course2;
 
-        _tgtpos.setElevationFt(_stn_height);
+    SGGeodesy::direct( _selectedpos, _stn_truebrg, _stn_range * SG_NM_TO_METER,
+        _tgtpos, course2);
 
-        calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
-            _tgtpos.getLatitudeDeg(), _tgtpos.getLongitudeDeg(), _tgtrange, _tgtbrg);
+    _tgtpos.setElevationFt(_stn_height);
 
-        _relbrg = calcRelBearingDeg(_tgtbrg, hdg);
+    calcRangeBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(),
+        _tgtpos.getLatitudeDeg(), _tgtpos.getLongitudeDeg(), _tgtrange, _tgtbrg);
 
-    } else {
-        SG_LOG(SG_GENERAL, SG_ALERT, "AIEscort: " << _name
-            << " parent not found: dying ");
-        setDie(true);
-    }
+    _relbrg = calcRelBearingDeg(_tgtbrg, hdg);
 
 }
 
@@ -312,13 +268,6 @@ void FGAIEscort::calcRangeBearing(double lat, double lon, double lat2, double lo
     range = distance * SG_METER_TO_NM;
 }
 
-double FGAIEscort::calcRelBearingDeg(double bearing, double heading)
-{
-    double angle = bearing - heading;
-    SG_NORMALIZE_RANGE(angle, -180.0, 180.0);
-    return angle;
-}
-
 double FGAIEscort::calcTrueBearingDeg(double bearing, double heading)
 {
     double angle = bearing + heading;
@@ -326,13 +275,6 @@ double FGAIEscort::calcTrueBearingDeg(double bearing, double heading)
     return angle;
 }
 
-double FGAIEscort::calcRecipBearingDeg(double bearing)
-{
-    double angle = bearing - 180;
-    SG_NORMALIZE_RANGE(angle, 0.0, 360.0);
-    return angle;
-}
-
 SGVec3d FGAIEscort::getCartHitchPosAt(const SGVec3d& _off) const {
     double hdg = _selected_ac->getDoubleValue("orientation/true-heading-deg");
     double pitch = _selected_ac->getDoubleValue("orientation/pitch-deg");
@@ -364,7 +306,7 @@ void FGAIEscort::setStationSpeed(){
     // these are the AI rules for the manoeuvring of escorts
 
     if (_MPControl && _tgtrange > 4 * _stn_limit){
-        SG_LOG(SG_GENERAL, SG_ALERT, "AIEscort: " << _name
+        SG_LOG(SG_AI, SG_ALERT, "AIEscort: " << _name
             << " re-aligning to MP pos");
         pos = _tgtpos;
         speed = 0;
@@ -432,10 +374,9 @@ void FGAIEscort::RunEscort(double dt){
 
     setParent();
     setStationSpeed();
-    //getGroundElev(pos);
 
     _dt_count = 0;
 
 }
 
-// end AIGroundvehicle
+// end AIEscort