X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIShip.cxx;h=22db5b4ad9654f8fc06f168574650e192256c9aa;hb=1c3e2d4942fe74dac43f1f6af542f9de7d4825db;hp=d9fc379fe3092e24448ce362578cfe7c5c50c59f;hpb=85a1e5cc983169594563763c903436c8f1cfa934;p=flightgear.git diff --git a/src/AIModel/AIShip.cxx b/src/AIModel/AIShip.cxx index d9fc379fe..22db5b4ad 100644 --- a/src/AIModel/AIShip.cxx +++ b/src/AIModel/AIShip.cxx @@ -29,9 +29,9 @@ FGAIShip::FGAIShip(FGAIManager* mgr) { manager = mgr; - hdg_lock = false; - rudder = 0.0; _type_str = "ship"; + _otype = otShip; + } FGAIShip::~FGAIShip() { @@ -39,72 +39,143 @@ FGAIShip::~FGAIShip() { bool FGAIShip::init() { + + hdg_lock = false; + rudder = 0.0; + no_roll = false; + + rudder_constant = 0.5; + roll_constant = 0.001; + speed_constant = 0.05; + hdg_constant = 0.01; + return FGAIBase::init(); } void FGAIShip::bind() { FGAIBase::bind(); - props->tie("surface-positions/rudder-pos-norm", - SGRawValuePointer(&rudder)); + props->tie("surface-positions/rudder-pos-deg", + SGRawValuePointer(&rudder)); + props->tie("controls/heading-lock", + SGRawValuePointer(&hdg_lock)); + props->tie("controls/tgt-speed-kts", + SGRawValuePointer(&tgt_speed)); + props->tie("controls/tgt-heading-degs", + SGRawValuePointer(&tgt_heading)); + props->tie("controls/constants/rudder", + SGRawValuePointer(&rudder_constant)); + props->tie("controls/constants/roll", + SGRawValuePointer(&roll_constant)); + props->tie("controls/constants/rudder", + SGRawValuePointer(&rudder_constant)); + props->tie("controls/constants/speed", + SGRawValuePointer(&speed_constant)); + + props->setStringValue("name", name.c_str()); } void FGAIShip::unbind() { FGAIBase::unbind(); + props->untie("surface-positions/rudder-pos-deg"); + props->untie("controls/heading-lock"); + props->untie("controls/tgt-speed-kts"); + props->untie("controls/tgt-heading-degs"); + props->untie("controls/constants/roll"); + props->untie("controls/constants/rudder"); + props->untie("controls/constants/speed"); + } void FGAIShip::update(double dt) { + FGAIBase::update(dt); Run(dt); Transform(); - FGAIBase::update(dt); } void FGAIShip::Run(double dt) { - double turn_radius_ft; - double turn_circum_ft; + if (fp) ProcessFlightPlan(dt); + + double sp_turn_radius_ft; + double rd_turn_radius_ft; double speed_north_deg_sec; double speed_east_deg_sec; - double ft_per_deg_lon; - double ft_per_deg_lat; double dist_covered_ft; double alpha; - - // get size of a degree at this latitude - ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.lat()/SG_RADIANS_TO_DEGREES); - ft_per_deg_lon = 365228.16 * cos(pos.lat() / SG_RADIANS_TO_DEGREES); + double rudder_limit; + double raw_roll; // adjust speed double speed_diff = tgt_speed - speed; if (fabs(speed_diff) > 0.1) { - if (speed_diff > 0.0) speed += 0.1 * dt; - if (speed_diff < 0.0) speed -= 0.1 * dt; + if (speed_diff > 0.0) speed += speed_constant * dt; + if (speed_diff < 0.0) speed -= speed_constant * dt; } // convert speed to degrees per second - speed_north_deg_sec = cos( hdg / SG_RADIANS_TO_DEGREES ) + speed_north_deg_sec = cos( hdg / SGD_RADIANS_TO_DEGREES ) * speed * 1.686 / ft_per_deg_lat; - speed_east_deg_sec = sin( hdg / SG_RADIANS_TO_DEGREES ) + speed_east_deg_sec = sin( hdg / SGD_RADIANS_TO_DEGREES ) * speed * 1.686 / ft_per_deg_lon; // set new position pos.setlat( pos.lat() + speed_north_deg_sec * dt); pos.setlon( pos.lon() + speed_east_deg_sec * dt); + // adjust heading based on current rudder angle - if (rudder != 0.0) { - turn_radius_ft = 0.088362 * speed * speed + if (rudder <= -0.25 || rudder >= 0.25) { + /* turn_radius_ft = 0.088362 * speed * speed / tan( fabs(rudder) / SG_RADIANS_TO_DEGREES ); turn_circum_ft = SGD_2PI * turn_radius_ft; dist_covered_ft = speed * 1.686 * dt; - alpha = dist_covered_ft / turn_circum_ft * 360.0; + alpha = dist_covered_ft / turn_circum_ft * 360.0;*/ + + if (turn_radius_ft <= 0) turn_radius_ft = 0; // don't allow nonsense values + if (rudder > 45) rudder = 45; + if (rudder < -45) rudder = -45; + +// adjust turn radius for speed. The equation is very approximate. + sp_turn_radius_ft = 10 * pow ((speed - 15),2) + turn_radius_ft; +// cout << " speed turn radius " << sp_turn_radius_ft ; + +// adjust turn radius for rudder angle. The equation is even more approximate. + float a = 19; + float b = -0.2485; + float c = 0.543; + + rd_turn_radius_ft = (a * exp(b * fabs(rudder)) + c) * sp_turn_radius_ft; + +// cout <<" rudder turn radius " << rd_turn_radius_ft << endl; + +// calculate the angle, alpha, subtended by the arc traversed in time dt + alpha = ((speed * 1.686 * dt)/rd_turn_radius_ft) * SG_RADIANS_TO_DEGREES; + + +// make sure that alpha is applied in the right direction hdg += alpha * sign( rudder ); if ( hdg > 360.0 ) hdg -= 360.0; if ( hdg < 0.0) hdg += 360.0; + +//adjust roll for rudder angle and speed. Another bit of voodoo + raw_roll = -0.0166667 * speed * rudder; } + else + { +// rudder angle is 0 + raw_roll = 0; +// cout << " roll "<< roll << endl; + } + + //low pass filter + roll = (raw_roll * roll_constant) + (roll * (1 - roll_constant)); + + /*cout << " rudder: " << rudder << " raw roll: "<< raw_roll<<" roll: " << roll ; + cout << " hdg: " << hdg << endl ;*/ // adjust target rudder angle if heading lock engaged if (hdg_lock) { @@ -118,24 +189,43 @@ void FGAIShip::Run(double dt) { } else { rudder_sense = -1.0; } - if (diff < 30) tgt_roll = diff * rudder_sense; + if (diff < 15){ + tgt_rudder = diff * rudder_sense; + } + else + { + tgt_rudder = 45 * rudder_sense; + } } // adjust rudder angle - double rudder_diff = tgt_roll - rudder; - if (fabs(rudder_diff) > 0.1) { - if (rudder_diff > 0.0) rudder += 5.0 * dt; - if (rudder_diff < 0.0) rudder -= 5.0 * dt; + double rudder_diff = tgt_rudder - rudder; + // set the rudder limit by speed + if (speed <= 40 ){ + rudder_limit = (-0.825 * speed) + 35; + }else{ + rudder_limit = 2; } + if (fabs(rudder_diff) > 0.1) { + if (rudder_diff > 0.0){ + rudder += rudder_constant * dt; + if (rudder > rudder_limit) rudder = rudder_limit;// apply the rudder limit + } else if (rudder_diff < 0.0){ + rudder -= rudder_constant * dt; + if (rudder < -rudder_limit) rudder = -rudder_limit; + } } + +}//end function + + void FGAIShip::AccelTo(double speed) { tgt_speed = speed; } - void FGAIShip::PitchTo(double angle) { tgt_pitch = angle; } @@ -165,3 +255,23 @@ double FGAIShip::sign(double x) { if ( x < 0.0 ) { return -1.0; } else { return 1.0; } } + +void FGAIShip::setFlightPlan(FGAIFlightPlan* f) { + fp = f; +} + +void FGAIShip::setName(const string& n) { + name = n; +} + +void FGAIShip::ProcessFlightPlan(double dt) { + // not implemented yet +} + +void FGAIShip::setRudder(float r) { + rudder = r; +} + +void FGAIShip::setRoll(double rl) { + roll = rl; +}