// FGAIShip - FGAIBase-derived class creates an AI ship
//
// Written by David Culp, started October 2003.
-// - davidculp2@comcast.net
+// with major amendments and additions by 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
# include <config.h>
#endif
-#include <simgear/math/point3d.hxx>
+#ifdef _MSC_VER
+# include <float.h>
+# define finite _finite
+#elif defined(__sun) || defined(sgi)
+# include <ieeefp.h>
+#endif
+
#include <math.h>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/math/sg_random.h>
-#include "AIFlightPlan.hxx"
#include "AIShip.hxx"
-FGAIShip::FGAIShip(object_type ot) : FGAIBase(ot) {
+FGAIShip::FGAIShip(object_type ot) :
+ FGAIBase(ot),
+ _dt_count(0),
+ _next_run(0)
+{
}
FGAIShip::~FGAIShip() {
}
void FGAIShip::readFromScenario(SGPropertyNode* scFileNode) {
- if (!scFileNode)
- return;
-
- FGAIBase::readFromScenario(scFileNode);
-
- setRudder(scFileNode->getFloatValue("rudder", 0.0));
- setName(scFileNode->getStringValue("name", "Titanic"));
-
- std::string flightplan = scFileNode->getStringValue("flightplan");
- if (!flightplan.empty()){
- FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
- setFlightPlan(fp);
- }
+ if (!scFileNode)
+ return;
+
+ FGAIBase::readFromScenario(scFileNode);
+
+ setRudder(scFileNode->getFloatValue("rudder", 0.0));
+ setName(scFileNode->getStringValue("name", "Titanic"));
+ setRadius(scFileNode->getDoubleValue("turn-radius-ft", 2000));
+ std::string flightplan = scFileNode->getStringValue("flightplan");
+ setRepeat(scFileNode->getBoolValue("repeat", false));
+
+ if (!flightplan.empty()) {
+ FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
+ setFlightPlan(fp);
+ }
+
}
bool FGAIShip::init(bool search_in_AI_path) {
-
- 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(search_in_AI_path);
+ prev = 0; // the one behind you
+ curr = 0; // the one ahead
+ next = 0; // the next plus 1
+
+ props->setStringValue("name", _name.c_str());
+ props->setStringValue("position/waypoint-name-prev", _prev_name.c_str());
+ props->setStringValue("position/waypoint-name-curr", _curr_name.c_str());
+ props->setStringValue("position/waypoint-name-next", _next_name.c_str());
+
+ _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;
+
+ _rd_turn_radius_ft = _sp_turn_radius_ft = turn_radius_ft;
+
+ _fp_init = false;
+ _missed = false;
+ _waiting = false;
+ _new_waypoint = true;
+
+ _missed_count = 0;
+ _wait_count = 0;
+ _missed_time_sec = 30;
+
+ _wp_range = _old_range = 0;
+ _range_rate = 0;
+
+ if (fp)
+ _fp_init = initFlightPlan();
+
+ return FGAIBase::init(search_in_AI_path);
}
+
void FGAIShip::bind() {
FGAIBase::bind();
props->tie("surface-positions/rudder-pos-deg",
- SGRawValuePointer<float>(&rudder));
+ SGRawValuePointer<float>(&_rudder));
props->tie("controls/heading-lock",
- SGRawValuePointer<bool>(&hdg_lock));
+ SGRawValuePointer<bool>(&_hdg_lock));
props->tie("controls/tgt-speed-kts",
- SGRawValuePointer<double>(&tgt_speed));
+ SGRawValuePointer<double>(&tgt_speed));
props->tie("controls/tgt-heading-degs",
- SGRawValuePointer<double>(&tgt_heading));
+ SGRawValuePointer<double>(&tgt_heading));
props->tie("controls/constants/rudder",
- SGRawValuePointer<double>(&rudder_constant));
+ SGRawValuePointer<double>(&_rudder_constant));
props->tie("controls/constants/roll",
- SGRawValuePointer<double>(&roll_constant));
+ SGRawValuePointer<double>(&_roll_constant));
props->tie("controls/constants/rudder",
- SGRawValuePointer<double>(&rudder_constant));
+ SGRawValuePointer<double>(&_rudder_constant));
props->tie("controls/constants/speed",
- SGRawValuePointer<double>(&speed_constant));
-
- props->setStringValue("name", name.c_str());
+ SGRawValuePointer<double>(&_speed_constant));
+ props->tie("position/waypoint-range-nm",
+ SGRawValuePointer<double>(&_wp_range));
+ props->tie("position/waypoint-range-old-nm",
+ SGRawValuePointer<double>(&_old_range));
+ props->tie("position/waypoint-range-rate-nm-sec",
+ SGRawValuePointer<double>(&_range_rate));
+ props->tie("position/waypoint-new",
+ SGRawValuePointer<bool>(&_new_waypoint));
+ props->tie("position/waypoint-missed",
+ SGRawValuePointer<bool>(&_missed));
+ props->tie("position/waypoint-missed-count",
+ SGRawValuePointer<double>(&_missed_count));
+ props->tie("position/waypoint-missed-time-sec",
+ SGRawValuePointer<double>(&_missed_time_sec));
+ props->tie("position/waypoint-wait-count",
+ SGRawValuePointer<double>(&_wait_count));
+ props->tie("position/waypoint-waiting",
+ SGRawValuePointer<bool>(&_waiting));
}
void FGAIShip::unbind() {
props->untie("controls/tgt-heading-degs");
props->untie("controls/constants/roll");
props->untie("controls/constants/rudder");
- props->untie("controls/constants/speed");
-
+ props->untie("controls/constants/speed");
+ props->untie("position/waypoint-range-nm");
+ props->untie("position/waypoint-range-old-nm");
+ props->untie("position/waypoint-range-rate-nm-sec");
+ props->untie("position/waypoint-new");
+ props->untie("position/waypoint-missed");
+ props->untie("position/waypoint-wait-count");
+ props->untie("position/waypoint-waiting");
+ props->untie("position/waypoint-missed-time-sec");
}
void FGAIShip::update(double dt) {
-
- FGAIBase::update(dt);
- Run(dt);
- Transform();
+ FGAIBase::update(dt);
+ Run(dt);
+ Transform();
}
+void FGAIShip::Run(double dt) {
+ if (_fp_init)
+ ProcessFlightPlan(dt);
-void FGAIShip::Run(double dt) {
+ double speed_north_deg_sec;
+ double speed_east_deg_sec;
+ double alpha;
+ double rudder_limit;
+ double raw_roll;
+
+ // adjust speed
+ double speed_diff = tgt_speed - speed;
+
+ if (fabs(speed_diff) > 0.1) {
- 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 dist_covered_ft;
- double alpha;
- 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 += speed_constant * dt;
- if (speed_diff < 0.0) speed -= speed_constant * dt;
- }
-
- // convert speed to degrees per second
- speed_north_deg_sec = cos( hdg / SGD_RADIANS_TO_DEGREES )
- * speed * 1.686 / ft_per_deg_lat;
- speed_east_deg_sec = sin( hdg / SGD_RADIANS_TO_DEGREES )
- * speed * 1.686 / ft_per_deg_lon;
-
- // set new position
- pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
- pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
-
-
- // adjust heading based on current rudder angle
- 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;*/
-
- 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;
- }
+ if (speed_diff > 0.0)
+ speed += _speed_constant * dt;
+
+ if (speed_diff < 0.0)
+ speed -= _speed_constant * dt;
+ }
+
+ // do not allow unreasonable ship speeds
+ if (speed > 40)
+ speed = 40;
+
+ // convert speed to degrees per second
+ speed_north_deg_sec = cos(hdg / SGD_RADIANS_TO_DEGREES)
+ * speed * 1.686 / ft_per_deg_lat;
+ speed_east_deg_sec = sin(hdg / SGD_RADIANS_TO_DEGREES)
+ * speed * 1.686 / ft_per_deg_lon;
+
+ // set new position
+ pos.setLatitudeDeg(pos.getLatitudeDeg() + speed_north_deg_sec * dt);
+ pos.setLongitudeDeg(pos.getLongitudeDeg() + speed_east_deg_sec * dt);
+
+ // adjust heading based on current _rudder angle
+
+ //cout << "turn_radius_ft " << turn_radius_ft ;
+
+ if (turn_radius_ft <= 0)
+ turn_radius_ft = 0; // don't allow nonsense values
+
+ if (_rudder > 45)
+ _rudder = 45;
+
+ if (_rudder < -45)
+ _rudder = -45;
+
+ //we assume that at slow speed ships will manoeuvre using engines/bow thruster
+ if (fabs(speed)<=5)
+ _sp_turn_radius_ft = 500;
+ else
+ // adjust turn radius for speed. The equation is very approximate.
+ // we need to allow for negative speeds
+ _sp_turn_radius_ft = 10 * pow ((fabs(speed) - 15), 2) + turn_radius_ft;
+
+ //cout << " speed turn radius " << _sp_turn_radius_ft ;
+
+ if (_rudder <= -0.25 || _rudder >= 0.25) {
+ // 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;
+ }
//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) {
- double rudder_sense = 0.0;
- double diff = fabs(hdg - tgt_heading);
- if (diff > 180) diff = fabs(diff - 360);
- double sum = hdg + diff;
- if (sum > 360.0) sum -= 360.0;
- if (fabs(sum - tgt_heading) < 1.0) {
- rudder_sense = 1.0;
- } else {
- rudder_sense = -1.0;
- }
- if (diff < 15){
- tgt_rudder = diff * rudder_sense;
- }
- else
- {
- tgt_rudder = 45 * rudder_sense;
- }
- }
-
- // adjust rudder angle
- 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;
- }
-}
+ if (speed < 0)
+ roll = -roll;
+ roll = (raw_roll * _roll_constant) + (roll * (1 - _roll_constant));
+ // adjust target _rudder angle if heading lock engaged
+ if (_hdg_lock) {
+ double rudder_sense = 0.0;
+ double diff = fabs(hdg - tgt_heading);
+ //cout << "_rudder diff" << diff << endl;
+ if (diff > 180)
+ diff = fabs(diff - 360);
-}//end function
+ double sum = hdg + diff;
+
+ if (sum > 360.0)
+ sum -= 360.0;
+ if (fabs(sum - tgt_heading)< 1.0)
+ rudder_sense = 1.0;
+ else
+ rudder_sense = -1.0;
+
+ if (speed < 0)
+ rudder_sense = -rudder_sense;
+
+ if (diff < 15)
+ _tgt_rudder = diff * rudder_sense;
+ else
+ _tgt_rudder = 45 * rudder_sense;
+ }
+
+ // adjust _rudder angle
+ 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) { // apply dead zone
+
+ if (rudder_diff > 0.0) {
+ _rudder += _rudder_constant * dt;
+
+ if (_rudder > rudder_limit) // apply the _rudder limit
+ _rudder = 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;
+ tgt_speed = speed;
}
void FGAIShip::PitchTo(double angle) {
- tgt_pitch = angle;
+ tgt_pitch = angle;
}
-
void FGAIShip::RollTo(double angle) {
- tgt_roll = angle;
+ tgt_roll = angle;
}
-
void FGAIShip::YawTo(double angle) {
}
-
void FGAIShip::ClimbTo(double altitude) {
}
void FGAIShip::TurnTo(double heading) {
- tgt_heading = heading;
- hdg_lock = true;
+ tgt_heading = heading;
+ _hdg_lock = true;
}
-
double FGAIShip::sign(double x) {
-
- if ( x < 0.0 ) { return -1.0; }
- else { return 1.0; }
+ if (x < 0.0)
+ return -1.0;
+ else
+ return 1.0;
}
void FGAIShip::setFlightPlan(FGAIFlightPlan* f) {
- fp = f;
+ fp = f;
}
void FGAIShip::setName(const string& n) {
- name = n;
+ _name = n;
}
-void FGAIShip::ProcessFlightPlan(double dt) {
- // not implemented yet
+void FGAIShip::setCurrName(const string& c) {
+ _curr_name = c;
+ props->setStringValue("position/waypoint-name-curr", _curr_name.c_str());
}
+void FGAIShip::setNextName(const string& n) {
+ _next_name = n;
+ props->setStringValue("position/waypoint-name-next", _next_name.c_str());
+}
+
+void FGAIShip::setPrevName(const string& p) {
+ _prev_name = p;
+ props->setStringValue("position/waypoint-name-prev", _prev_name.c_str());
+}
+
+void FGAIShip::setRepeat(bool r) {
+ _repeat = r;
+}
+
+void FGAIShip::setMissed(bool m) {
+ _missed = m;
+ props->setBoolValue("position/waypoint-missed", _missed);
+}
+
+void FGAIShip::ProcessFlightPlan(double dt) {
+
+ _missed = false;
+ _dt_count += dt;
+
+ ///////////////////////////////////////////////////////////////////////////
+ // Check Execution time (currently once every 1 sec)
+ // Add a bit of randomization to prevent the execution of all flight plans
+ // in synchrony, which can add significant periodic framerate flutter.
+ ///////////////////////////////////////////////////////////////////////////
+ if (_dt_count < _next_run)
+ return;
+
+ _next_run = 1.0 + (0.5 * sg_random());
+
+ // check to see if we've reached the point for our next turn
+ // if the range to the waypoint is less than the calculated turn
+ // radius we can start the turn to the next leg
+ _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
+ _range_rate = (_wp_range - _old_range) / _dt_count;
+ double sp_turn_radius_nm = _sp_turn_radius_ft / 6076.1155;
+
+ // we need to try to identify a _missed waypoint
+
+ // calculate the time needed to turn through an arc of 90 degrees, and allow an error of 30 secs
+ if (speed != 0)
+ _missed_time_sec = 30 + ((SGD_PI * sp_turn_radius_nm * 60 * 60) / (2 * fabs(speed)));
+ else
+ _missed_time_sec = 30;
+
+ if ((_range_rate > 0) && (_wp_range < 3 * sp_turn_radius_nm) && !_new_waypoint)
+ _missed_count += _dt_count;
+
+
+ if (_missed_count >= _missed_time_sec) {
+ setMissed(true);
+ } else {
+ setMissed(false);
+ }
+
+ _old_range = _wp_range;
+
+ if ((_wp_range < sp_turn_radius_nm) || _missed || _waiting && !_new_waypoint) {
+
+ if (_next_name == "END") {
+
+ if (_repeat) {
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: Flightplan restarting ");
+ fp->restart();
+ prev = curr;
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ setWPNames();
+ _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
+ _old_range = _wp_range;
+ _range_rate = 0;
+ _new_waypoint = true;
+ _missed_count = 0;
+ AccelTo(prev->speed);
+ } else {
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: Flightplan dieing ");
+ setDie(true);
+ _dt_count = 0;
+ return;
+ }
+
+ } else if (_next_name == "WAIT") {
+
+ if (_wait_count < next->wait_time) {
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " _waiting ");
+ setSpeed(0);
+ _waiting = true;
+ _wait_count += _dt_count;
+ _dt_count = 0;
+ return;
+ } else {
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " wait done: getting new waypoints ");
+ prev = curr;
+ fp->IncrementWaypoint(false);
+ fp->IncrementWaypoint(false); // do it twice
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ _waiting = false;
+ _wait_count = 0;
+ }
+
+ } else {
+ //now reorganise the waypoints, so that next becomes current and so on
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " getting new waypoints ");
+ fp->IncrementWaypoint(false);
+ prev = fp->getPreviousWaypoint(); //first waypoint
+ curr = fp->getCurrentWaypoint(); //second waypoint
+ next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+ }
+
+ setWPNames();
+ _new_waypoint = true;
+ _missed_count = 0;
+ _range_rate = 0;
+ _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
+ _old_range = _wp_range;
+ AccelTo(prev->speed);
+ } else {
+ _new_waypoint = false;
+ }
+
+ // now revise the required course for the next way point
+ double course = getCourse(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
+
+ if (finite(course))
+ TurnTo(course);
+ else
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: Bearing or Range is not a finite number");
+
+ _dt_count = 0;
+} // end Processing FlightPlan
+
void FGAIShip::setRudder(float r) {
- rudder = r;
+ _rudder = r;
}
void FGAIShip::setRoll(double rl) {
- roll = rl;
+ roll = rl;
+}
+
+double FGAIShip::getRange(double lat, double lon, double lat2, double lon2) const {
+
+ double course, distance, az2;
+
+ //calculate the bearing and range of the second pos from the first
+ geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
+ distance *= SG_METER_TO_NM;
+ return distance;
+}
+
+double FGAIShip::getCourse(double lat, double lon, double lat2, double lon2) const {
+
+ double course, distance, recip;
+
+ //calculate the bearing and range of the second pos from the first
+ geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &recip, &distance);
+ if (tgt_speed >= 0) {
+ return course;
+ } else {
+ return recip;
+ }
+}
+
+bool FGAIShip::initFlightPlan() {
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " initialising waypoints ");
+ fp->restart();
+ fp->IncrementWaypoint(false);
+
+ prev = fp->getPreviousWaypoint(); //first waypoint
+ curr = fp->getCurrentWaypoint(); //second waypoint
+ next = fp->getNextWaypoint(); //third waypoint (might not exist!)
+
+ if (curr->name == "WAIT") { // don't wait when initialising
+ SG_LOG(SG_GENERAL, SG_ALERT, "AIShip: " << _name << " re-initialising waypoints ");
+ fp->IncrementWaypoint(false);
+ curr = fp->getCurrentWaypoint();
+ next = fp->getNextWaypoint();
+ }
+
+ setWPNames();
+ setLatitude(prev->latitude);
+ setLongitude(prev->longitude);
+ setSpeed(prev->speed);
+ setHeading(getCourse(prev->latitude, prev->longitude, curr->latitude, curr->longitude));
+ _hdg_lock = true;
+ _wp_range = getRange(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr->latitude, curr->longitude);
+ _old_range = _wp_range;
+ _range_rate = 0;
+ _missed = false;
+ _missed_count = 0;
+ _new_waypoint = true;
+
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: " << _name << " done initialising waypoints ");
+
+ if (prev)
+ return true;
+ else
+ return false;
+
+} // end of initialization
+
+void FGAIShip::setWPNames() {
+
+ if (prev != 0)
+ setPrevName(prev->name);
+ else
+ setPrevName("");
+
+ setCurrName(curr->name);
+
+ if (next != 0)
+ setNextName(next->name);
+ else
+ setNextName("");
+
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: prev wp name " << prev->name);
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: current wp name " << curr->name);
+ SG_LOG(SG_GENERAL, SG_INFO, "AIShip: next wp name " << next->name);
+
}
projects / flightgear.git / commitdiff