From 002b880e7efc342c43b822b182e7f0a8f654f390 Mon Sep 17 00:00:00 2001 From: mfranz Date: Mon, 5 Mar 2007 21:40:39 +0000 Subject: [PATCH] Vivian MEAZZA: "Implement 'flightplans' for AIShips. This patch also introduces the concept of a 'WAIT' token for AIShips: when the flightplan reaches a 'WAIT', the AIShip stops and pauses for the specified time (secs)." --- src/AIModel/AIFlightPlan.cxx | 1 + src/AIModel/AIFlightPlan.hxx | 1 + src/AIModel/AIShip.cxx | 658 +++++++++++++++++++++++++---------- src/AIModel/AIShip.hxx | 98 ++++-- 4 files changed, 545 insertions(+), 213 deletions(-) diff --git a/src/AIModel/AIFlightPlan.cxx b/src/AIModel/AIFlightPlan.cxx index 8f03b93a7..693b7d22b 100644 --- a/src/AIModel/AIFlightPlan.cxx +++ b/src/AIModel/AIFlightPlan.cxx @@ -78,6 +78,7 @@ FGAIFlightPlan::FGAIFlightPlan(const string& filename) wpt->gear_down = wpt_node->getBoolValue("gear-down", false); wpt->flaps_down= wpt_node->getBoolValue("flaps-down", false); wpt->on_ground = wpt_node->getBoolValue("on-ground", false); + wpt->wait_time = wpt_node->getDoubleValue("wait-time-sec", 0); if (wpt->name == "END") wpt->finished = true; else wpt->finished = false; diff --git a/src/AIModel/AIFlightPlan.hxx b/src/AIModel/AIFlightPlan.hxx index 775cacbb9..0fee8c43c 100644 --- a/src/AIModel/AIFlightPlan.hxx +++ b/src/AIModel/AIFlightPlan.hxx @@ -49,6 +49,7 @@ public: bool flaps_down; bool on_ground; int routeIndex; // For AI/ATC purposes; + double wait_time; } waypoint; FGAIFlightPlan(const string& filename); diff --git a/src/AIModel/AIShip.cxx b/src/AIModel/AIShip.cxx index 5ea0c0976..849a3b6a0 100644 --- a/src/AIModel/AIShip.cxx +++ b/src/AIModel/AIShip.cxx @@ -1,7 +1,7 @@ // 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 @@ -21,70 +21,126 @@ # include #endif -#include +#ifdef _MSC_VER +# include +# define finite _finite +#elif defined(__sun) || defined(sgi) +# include +#endif + #include +#include +#include -#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(&rudder)); + SGRawValuePointer(&_rudder)); props->tie("controls/heading-lock", - SGRawValuePointer(&hdg_lock)); + SGRawValuePointer(&_hdg_lock)); props->tie("controls/tgt-speed-kts", - SGRawValuePointer(&tgt_speed)); + SGRawValuePointer(&tgt_speed)); props->tie("controls/tgt-heading-degs", - SGRawValuePointer(&tgt_heading)); + SGRawValuePointer(&tgt_heading)); props->tie("controls/constants/rudder", - SGRawValuePointer(&rudder_constant)); + SGRawValuePointer(&_rudder_constant)); props->tie("controls/constants/roll", - SGRawValuePointer(&roll_constant)); + SGRawValuePointer(&_roll_constant)); props->tie("controls/constants/rudder", - SGRawValuePointer(&rudder_constant)); + SGRawValuePointer(&_rudder_constant)); props->tie("controls/constants/speed", - SGRawValuePointer(&speed_constant)); - - props->setStringValue("name", name.c_str()); + SGRawValuePointer(&_speed_constant)); + props->tie("position/waypoint-range-nm", + SGRawValuePointer(&_wp_range)); + props->tie("position/waypoint-range-old-nm", + SGRawValuePointer(&_old_range)); + props->tie("position/waypoint-range-rate-nm-sec", + SGRawValuePointer(&_range_rate)); + props->tie("position/waypoint-new", + SGRawValuePointer(&_new_waypoint)); + props->tie("position/waypoint-missed", + SGRawValuePointer(&_missed)); + props->tie("position/waypoint-missed-count", + SGRawValuePointer(&_missed_count)); + props->tie("position/waypoint-missed-time-sec", + SGRawValuePointer(&_missed_time_sec)); + props->tie("position/waypoint-wait-count", + SGRawValuePointer(&_wait_count)); + props->tie("position/waypoint-waiting", + SGRawValuePointer(&_waiting)); } void FGAIShip::unbind() { @@ -95,195 +151,437 @@ 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); + } diff --git a/src/AIModel/AIShip.hxx b/src/AIModel/AIShip.hxx index 78fd6702a..50c604fe3 100644 --- a/src/AIModel/AIShip.hxx +++ b/src/AIModel/AIShip.hxx @@ -1,6 +1,7 @@ // FGAIShip - AIBase derived class creates an AI ship // // Written by David Culp, started November 2003. +// with major amendments and additions by Vivian Meazza, 2004 - 2007 // // Copyright (C) 2003 David P. Culp - davidculp2@comcast.net // @@ -22,49 +23,80 @@ #define _FG_AISHIP_HXX #include "AIBase.hxx" +#include "AIFlightPlan.hxx" + class FGAIManager; class FGAIShip : public FGAIBase { - + public: - - FGAIShip(object_type ot = otShip); - virtual ~FGAIShip(); - - virtual void readFromScenario(SGPropertyNode* scFileNode); - - virtual bool init(bool search_in_AI_path=false); - virtual void bind(); - virtual void unbind(); - virtual void update(double dt); - void setFlightPlan(FGAIFlightPlan* f); - void setName(const string&); - void setRudder(float r); - void setRoll(double rl); - - void ProcessFlightPlan( double dt ); - - void AccelTo(double speed); - void PitchTo(double angle); - void RollTo(double angle); - void YawTo(double angle); - void ClimbTo(double altitude); - void TurnTo(double heading); - bool hdg_lock; - - virtual const char* getTypeString(void) const { return "ship"; } - + + FGAIShip(object_type ot = otShip); + virtual ~FGAIShip(); + + virtual void readFromScenario(SGPropertyNode* scFileNode); + + virtual bool init(bool search_in_AI_path=false); + virtual void bind(); + virtual void unbind(); + virtual void update(double dt); + void setFlightPlan(FGAIFlightPlan* f); + void setName(const string&); + void setRudder(float r); + void setRoll(double rl); + void ProcessFlightPlan( double dt); + void AccelTo(double speed); + void PitchTo(double angle); + void RollTo(double angle); + void YawTo(double angle); + void ClimbTo(double altitude); + void TurnTo(double heading); + void setCurrName(const string&); + void setNextName(const string&); + void setPrevName(const string&); + + bool _hdg_lock; + + virtual const char* getTypeString(void) const { return "ship"; } + protected: - string name; // The name of this ship. + string _name; // The _name of this ship. private: - float rudder, tgt_rudder; - double rudder_constant, roll_constant, speed_constant, hdg_constant; + FGAIFlightPlan::waypoint* prev; // the one behind you + FGAIFlightPlan::waypoint* curr; // the one ahead + FGAIFlightPlan::waypoint* next; // the next plus 1 + + virtual void reinit() { init(); } + + void setRepeat(bool r); + void setMissed(bool m); + void setWPNames(); + void Run(double dt); + double getRange(double lat, double lon, double lat2, double lon2) const; + double getCourse(double lat, double lon, double lat2, double lon2) const; + double sign(double x); + + bool initFlightPlan(); + + float _rudder, _tgt_rudder; + + double _rudder_constant, _roll_constant, _speed_constant, _hdg_constant; + double _sp_turn_radius_ft, _rd_turn_radius_ft; + double _wp_range, _old_range, _range_rate; + double _dt_count, _missed_count, _wait_count; + double _next_run; + double _missed_time_sec; + + string _prev_name, _curr_name, _next_name; + + bool _repeat; + bool _fp_init; + bool _new_waypoint; + bool _missed, _waiting; - void Run(double dt); - double sign(double x); }; #endif // _FG_AISHIP_HXX -- 2.39.5