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flightgear/src/AIModel/AIBase.cxx
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// FGAIBase - abstract base class for AI objects
// Written by David Culp, started Nov 2003, based on
// David Luff's FGAIEntity class.
// - davidculp2@comcast.net
//
// With additions by Mathias Froehlich & 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
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#include <config.h>
#include <string.h>
#include <simgear/compiler.h>
#include <string>
#include <osg/ref_ptr>
#include <osg/Node>
#include <osgDB/FileUtils>
#include <simgear/debug/ErrorReportingCallback.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/misc/sg_path.hxx>
#include <simgear/props/props.hxx>
#include <simgear/scene/model/modellib.hxx>
#include <simgear/scene/util/SGNodeMasks.hxx>
#include <Main/ErrorReporter.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include <Scenery/scenery.hxx>
#include <Scripting/NasalModelData.hxx>
#include <Scripting/NasalSys.hxx>
#include <Sound/fg_fx.hxx>
#include "AIFlightPlan.hxx"
#include "AIBase.hxx"
#include "AIManager.hxx"
static std::string default_model = "Models/Geometry/glider.ac";
const double FGAIBase::e = 2.71828183;
const double FGAIBase::lbs_to_slugs = 0.031080950172; //conversion factor
using std::string;
using namespace simgear;
class FGAIModelData : public simgear::SGModelData {
public:
FGAIModelData(SGPropertyNode *root = nullptr)
: _root (root)
{
}
~FGAIModelData() = default;
FGAIModelData* clone() const override { return new FGAIModelData(); }
ErrorContext getErrorContext() const override
{
return _errorContext;
}
void addErrorContext(const std::string& key, const std::string& value)
{
_errorContext[key] = value;
}
void captureErrorContext(const std::string& key)
{
const auto v = flightgear::ErrorReporter::threadSpecificContextValue(key);
if (!v.empty()) {
addErrorContext(key, v);
}
}
/** osg callback, thread-safe */
void modelLoaded(const std::string& path, SGPropertyNode *prop, osg::Node *n)
{
// WARNING: Called in a separate OSG thread! Only use thread-safe stuff here...
if (_ready && _modelLoaded.count(path) > 0)
return;
_modelLoaded[path] = true;
if(prop->hasChild("interior-path")){
_interiorPath = prop->getStringValue("interior-path");
_hasInteriorPath = true;
}
// save radius of loaded model for updating LOD
auto bs = n->getBound();
if (bs.valid()) {
_radius = bs.radius();
}
_fxpath = prop->getStringValue("sound/path");
_nasal[path] = std::unique_ptr<FGNasalModelDataProxy>(new FGNasalModelDataProxy(_root));
_nasal[path]->modelLoaded(path, prop, n);
_ready = true;
_initialized = false;
}
/** init hook to be called after model is loaded.
* Not thread-safe. Call from main thread only. */
void init(void) { _initialized = true; }
bool needInitilization(void) { return _ready && !_initialized;}
bool isInitialized(void) { return _initialized;}
inline std::string& get_sound_path() { return _fxpath;}
void setInteriorLoaded(const bool state) { _interiorLoaded = state;}
bool getInteriorLoaded(void) { return _interiorLoaded;}
bool hasInteriorPath(void) { return _hasInteriorPath;}
inline std::string& getInteriorPath() { return _interiorPath; }
inline float getRadius() { return _radius; }
private:
std::string _fxpath;
std::string _interiorPath;
std::map<string, bool> _modelLoaded;
std::map<string, std::unique_ptr<FGNasalModelDataProxy>> _nasal;
bool _ready = false;
bool _initialized = false;
bool _hasInteriorPath = false;
bool _interiorLoaded = false;
float _radius = -1.0;
SGPropertyNode* _root;
ErrorContext _errorContext;
};
FGAIBase::FGAIBase(object_type ot, bool enableHot) : replay_time(fgGetNode("sim/replay/time", true)),
model_removed(fgGetNode("/ai/models/model-removed", true)),
pos(SGGeod::fromDeg(0.0, 0.0)),
_impact_lat(0),
_impact_lon(0),
_impact_elev(0),
_impact_hdg(0),
_impact_pitch(0),
_impact_roll(0),
_impact_speed(0),
_refID(_newAIModelID()),
_otype(ot)
{
tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs_fps = pitch = 0.0;
bearing = elevation = range = rdot = 0.0;
x_shift = y_shift = rotation = 0.0;
in_range = false;
invisible = false;
no_roll = true;
life = 900;
delete_me = false;
_impact_reported = false;
_collision_reported = false;
_expiry_reported = false;
_x_offset = 0;
_y_offset = 0;
_z_offset = 0;
_pitch_offset = 0;
_roll_offset = 0;
_yaw_offset = 0;
speed = 0;
altitude_ft = 0;
speed_north_deg_sec = 0;
speed_east_deg_sec = 0;
turn_radius_ft = 0;
ft_per_deg_lon = 0;
ft_per_deg_lat = 0;
horiz_offset = 0;
vert_offset = 0;
ht_diff = 0;
serviceable = false;
rho = 1;
T = 280;
p = 1e5;
a = 340;
Mach = 0;
// explicitly disable HOT for (most) AI models
if (!enableHot)
aip.getSceneGraph()->setNodeMask(~SG_NODEMASK_TERRAIN_BIT);
}
FGAIBase::~FGAIBase() {
// Unregister that one at the scenery manager
removeModel();
if (props) {
SGPropertyNode* parent = props->getParent();
if (parent)
model_removed->setStringValue(props->getPath());
}
removeSoundFx();
}
/** Cleanly remove the model
* and let the scenery database pager do the clean-up work.
*/
void
FGAIBase::removeModel()
{
if (!_model.valid())
return;
FGScenery* pSceneryManager = globals->get_scenery();
if (pSceneryManager && pSceneryManager->get_models_branch())
{
osg::ref_ptr<osg::Object> temp = _model.get();
pSceneryManager->get_models_branch()->removeChild(aip.getSceneGraph());
// withdraw from SGModelPlacement and drop own reference (unref)
aip.clear();
_modeldata = nullptr;
_model = nullptr;
_interior = nullptr;
_high_res = nullptr;
_low_res = nullptr;
// pass it on to the pager, to be be deleted in the pager thread
pSceneryManager->getPager()->queueDeleteRequest(temp);
}
else
{
aip.clear();
_model = nullptr;
_modeldata = nullptr;
}
}
void FGAIBase::setScenarioPath(const std::string& scenarioPath)
{
_scenarioPath = scenarioPath;
}
void FGAIBase::readFromScenario(SGPropertyNode* scFileNode)
{
if (!scFileNode)
return;
setPath(scFileNode->getStringValue("model",
fgGetString("/sim/multiplay/default-model", default_model).c_str()).c_str());
setFallbackModelIndex(scFileNode->getIntValue("fallback-model-index", 0));
setHeading(scFileNode->getDoubleValue("heading", 0.0));
setSpeed(scFileNode->getDoubleValue("speed", 0.0));
setAltitude(scFileNode->getDoubleValue("altitude", 0.0));
setLongitude(scFileNode->getDoubleValue("longitude", 0.0));
setLatitude(scFileNode->getDoubleValue("latitude", 0.0));
setBank(scFileNode->getDoubleValue("roll", 0.0));
setPitch(scFileNode->getDoubleValue("pitch", 0.0));
SGPropertyNode* submodels = scFileNode->getChild("submodels");
if (submodels) {
setServiceable(submodels->getBoolValue("serviceable", false));
setSMPath(submodels->getStringValue("path", ""));
}
string searchOrder = scFileNode->getStringValue("search-order", "");
if (!searchOrder.empty()) {
if (searchOrder == "DATA_ONLY") {
_searchOrder = ModelSearchOrder::DATA_ONLY;
} else if (searchOrder == "PREFER_AI") {
_searchOrder = ModelSearchOrder::PREFER_AI;
} else if (searchOrder == "PREFER_DATA") {
_searchOrder = ModelSearchOrder::PREFER_DATA;
} else
SG_LOG(SG_AI, SG_WARN, "invalid model search order " << searchOrder << ". Use either DATA_ONLY, PREFER_AI or PREFER_DATA");
}
const string modelLowres = scFileNode->getStringValue("model-lowres", "");
if (!modelLowres.empty()) {
setPathLowres(modelLowres);
}
}
void FGAIBase::update(double dt) {
SG_UNUSED(dt);
if (replay_time->getDoubleValue() > 0)
return;
if (_otype == object_type::otStatic)
return;
if (_otype == object_type::otBallistic)
CalculateMach();
ft_per_deg_lat = 366468.96 - 3717.12 * cos(pos.getLatitudeRad());
ft_per_deg_lon = 365228.16 * cos(pos.getLatitudeRad());
if ((_modeldata)&&(_modeldata->needInitilization()))
{
// process deferred nasal initialization,
// which must be done in main thread
_modeldata->init();
// update LOD radius from loaded modeldata
auto radius = _modeldata->getRadius();
if (radius > 0) {
_model->setRadius(radius);
_model->dirtyBound();
}
else {
SG_LOG(SG_AI, SG_WARN, "AIBase: model radius not set.");
}
// sound initialization
if (fgGetBool("/sim/sound/aimodels/enabled",false))
{
const string& fxpath = _modeldata->get_sound_path();
if (fxpath != "")
{
simgear::ErrorReportContext ec("ai-model", _name);
if (!_scenarioPath.empty()) {
ec.add("scenario-path", _scenarioPath);
}
props->setStringValue("sim/sound/path", fxpath.c_str());
// Remove any existing sound FX (e.g. from another model)
removeSoundFx();
// initialize the sound configuration
std::stringstream name;
name << "aifx:";
name << _refID;
_fx = new FGFX(name.str(), props);
_fx->init();
}
}
}
if ( _fx )
{
// update model's audio sample values
_fx->set_position_geod( pos );
SGQuatd orient = SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
_fx->set_orientation( orient );
SGVec3d velocity;
velocity = SGVec3d( speed_north_deg_sec, speed_east_deg_sec,
pitch*speed );
_fx->set_velocity( velocity );
}
updateInterior();
}
void FGAIBase::updateInterior()
{
if(!_modeldata || !_modeldata->hasInteriorPath())
return;
if (!_modeldata->getInteriorLoaded()) { // interior is not yet load
_interior = SGModelLib::loadPagedModel(_modeldata->getInteriorPath(), props, _modeldata);
_group->addChild(_interior);
if (_interior.valid()) {
bool pixel_mode = !fgGetBool("/sim/rendering/static-lod/aimp-range-mode-distance", false);
if (pixel_mode) {
_interior->setRangeMode(osg::LOD::PIXEL_SIZE_ON_SCREEN);
_interior->setRange(0, _maxRangeInterior, FLT_MAX);
}
else {
_interior->setRangeMode(osg::LOD::DISTANCE_FROM_EYE_POINT);
_interior->setRange(0, 0.0, _maxRangeInterior);
}
_modeldata->setInteriorLoaded(true);
SG_LOG(SG_AI, SG_INFO, "AIBase: Loaded interior model " << _interior->getName());
}
}
}
/** update LOD properties of the model */
void FGAIBase::updateLOD()
{
double maxRangeDetail = fgGetDouble("/sim/rendering/static-lod/aimp-detailed", 3000.0);
double maxRangeBare = fgGetDouble("/sim/rendering/static-lod/aimp-bare", 10000.0);
_maxRangeInterior = fgGetDouble("/sim/rendering/static-lod/aimp-interior", 50.0);
if (_model.valid())
{
bool pixel_mode = !fgGetBool("/sim/rendering/static-lod/aimp-range-mode-distance", false);
if (pixel_mode) {
_model->setRangeMode(osg::LOD::PIXEL_SIZE_ON_SCREEN);
}
else {
_model->setRangeMode(osg::LOD::DISTANCE_FROM_EYE_POINT);
}
if (maxRangeDetail < 0)
{
// High detail model (only)
// - disables the low detail detail model by setting its visibility from 0 to 0
if (_high_res.valid()) {
_model->setRange(modelHighDetailIndex, 0.0, FLT_MAX); // all ranges.
_model->setRange(modelLowDetailIndex, 0.0, 0.0); // turn it off
}
else {
// only having low-res model
_model->setRange(modelLowDetailIndex, 0.0, FLT_MAX); // only having low-res model.
_model->setRange(modelHighDetailIndex, 0.0, 0.0); // only having low-res model.
}
}
else if ((int)maxRangeBare == (int)maxRangeDetail)
{
// low detail model (only)
if (_low_res.valid()) {
_model->setRange(modelHighDetailIndex, 0, 0); // turn it off
_model->setRange(modelLowDetailIndex, 0, FLT_MAX);
}
else {
// Only having high_res model
_model->setRange(modelHighDetailIndex, 0, FLT_MAX);
_model->setRange(modelLowDetailIndex, 0, 0.0);
}
}
else
{
if(pixel_mode)
{
/* In pixel size mode, the range sense is reversed, so we want the
* detailed model [0] to be displayed when the "range" is really
* large (i.e. the object is taking up a large number of pixels on screen),
* and the less detailed model [1] to be displayed if the
* "range" is between the detailed range and the bare range.
* When the "range" is less than the bare value, the aircraft
* represents too few pixels to be worth displaying.
*/
if (maxRangeBare > maxRangeDetail) {
// Sanity check that we have sensible values.
maxRangeBare = maxRangeDetail;
SG_LOG(SG_AI,
SG_WARN,
"/sim/rendering/static-lod/aimp-bare greater " <<
"than /sim/rendering/static-lod/aimp-detailed when using " <<
"/sim/rendering/static-lod/aimp-range-mode-distance=false. Ignoring ai-bare."
);
}
if (_low_res.valid() && _high_res.valid()) {
/*if (_model->getRadius() < 0)
{
osg::BoundingSphere bs = _model->computeBound();
if (bs.radius() > 0) {
_model->setRadius(bs.radius());
_model->setCenterMode(osg::LOD::CenterMode::USER_DEFINED_CENTER);
}
}*/
_model->setRange(modelHighDetailIndex , maxRangeDetail, FLT_MAX); // most detailed
_model->setRange(modelLowDetailIndex , maxRangeBare, maxRangeDetail); // least detailed
} else if (_low_res.valid() && !_high_res.valid()) {
// we have only low_res_model model it obviously will have to be displayed from the smallest value
_model->setRange(modelLowDetailIndex, min(maxRangeBare, maxRangeDetail), FLT_MAX );
_model->setRange(modelHighDetailIndex, 0,0);
} else if (!_low_res.valid() && _high_res.valid()) {
// we have only high_res model it obviously will have to be displayed from the smallest value
_model->setRange(modelHighDetailIndex, min(maxRangeBare, maxRangeDetail), FLT_MAX );
_model->setRange(modelLowDetailIndex, 0,0);
}
} else {
/* In non-pixel range mode we're dealing with straight distance.
* We use the detailed model [0] for when we are up to the detailed
* range, and the less complex model [1] (if available) for further
* away up to the bare range.
* - in this case the maxRangeBare is a delta on top of maxRangeDetail.
*/
if (maxRangeBare <= 0) {
// Sanity check that we have sensible values.
maxRangeBare = 1;
SG_LOG(SG_AI,
SG_ALERT,
"/sim/rendering/static-lod/aimp-bare is <= 0. This should be a delta on top of aimp-detailed in meters mode. setting to 1.");
}
if (_low_res.valid() && _high_res.valid()) {
_model->setRange(modelHighDetailIndex , 0, maxRangeDetail); // most detailed
_model->setRange(modelLowDetailIndex , maxRangeDetail, maxRangeDetail+maxRangeBare); // least detailed
} else if (_low_res.valid() && !_high_res.valid()) {
_model->setRange(modelLowDetailIndex, 0, maxRangeBare + maxRangeDetail); // only low_res, so display from 0 to the highest value in meters
_model->setRange(modelHighDetailIndex, 0, 0);
} else if (!_low_res.valid() && _high_res.valid()) {
_model->setRange(modelHighDetailIndex, 0, maxRangeBare + maxRangeDetail); // only high_res, so display from 0 to the highest value in meters
_model->setRange(modelLowDetailIndex, 0, 0);
}
}
}
if (_modeldata->getInteriorLoaded() && _interior.valid()) {
if (pixel_mode) {
_interior->setRangeMode(osg::LOD::PIXEL_SIZE_ON_SCREEN);
_interior->setRange(0, _maxRangeInterior, FLT_MAX);
}
else {
_interior->setRangeMode(osg::LOD::DISTANCE_FROM_EYE_POINT);
_interior->setRange(0, 0.0, _maxRangeInterior);
}
}
}
}
void FGAIBase::Transform() {
if (!invisible) {
aip.setVisible(true);
aip.setPosition(pos);
if (no_roll)
aip.setOrientation(0.0, pitch, hdg);
else
aip.setOrientation(roll, pitch, hdg);
aip.update();
} else {
aip.setVisible(false);
aip.update();
}
}
/*
* Find a set of paths to the model, in order of LOD from most detailed to
* least, and accounting for the user preference of detailed models vs. AI
* low resolution models.
*
* This returns a vector of size 1 or 2.
*/
std::vector<std::string> FGAIBase::resolveModelPath(ModelSearchOrder searchOrder)
{
string_list path_list;
if (searchOrder == ModelSearchOrder::DATA_ONLY) {
SG_LOG(SG_AI, SG_DEBUG, "Resolving model path: DATA only");
auto p = simgear::SGModelLib::findDataFile(model_path);
if (!p.empty()) {
// We've got a model, use it
_installed = true;
SG_LOG(SG_AI, SG_DEBUG, "Found model " << p);
path_list.push_back(p);
if (!model_path_lowres.empty()) {
p = simgear::SGModelLib::findDataFile(model_path_lowres);
if (!p.empty()) {
//lowres model needs to be the first in the list
path_list.insert(path_list.begin(),p);
}
}
} else {
// No model, so fall back to the default
const SGPath defaultModelPath = SGPath::fromUtf8(fgGetString("/sim/multiplay/default-model", default_model));
path_list.push_back(defaultModelPath.utf8Str());
}
} else {
SG_LOG(SG_AI, SG_DEBUG, "Resolving model path: PREFER_AI/PREFER_DATA");
// We're either PREFER_AI or PREFER_DATA. Find an AI model first.
for (SGPath p : globals->get_data_paths("AI")) {
p.append(model_path);
if (p.exists()) {
SG_LOG(SG_AI, SG_DEBUG, "Found AI model: " << p);
path_list.push_back(p.utf8Str());
break;
}
}
if (path_list.empty()) {
// Fall back on the fallback-model-index which is a lookup into
// /sim/multiplay/fallback-models/model[]
std::string fallback_path;
const SGPropertyNode* fallbackNode =
globals->get_props()->getNode("/sim/multiplay/fallback-models/model", _getFallbackModelIndex(), false);
if (fallbackNode != nullptr) {
fallback_path = fallbackNode->getStringValue();
} else {
fallback_path = globals->get_props()->getNode("/sim/multiplay/fallback-models/model", 0, true)->getStringValue();
}
for (SGPath p : globals->get_data_paths()) {
p.append(fallback_path);
if (p.exists()) {
SG_LOG(SG_AI, SG_DEBUG, "Found fallback model path for index " << _fallback_model_index << ": " << p);
path_list.push_back(p.utf8Str());
break;
}
}
}
if ((searchOrder == ModelSearchOrder::PREFER_AI) && !path_list.empty()) {
// if we prefer AI, and we've got a valid AI path from above, then use it, we're done
_installed = true;
return path_list;
}
// At this point we're looking for a regular model to display at closer range.
// From experimentation it seems to work best if the LODs are in the range list in terms of detail
// from lowest to highest - so insert this at the end.
auto p = simgear::SGModelLib::findDataFile(model_path);
if (!p.empty()) {
_installed = true;
SG_LOG(SG_AI, SG_DEBUG, "Found DATA model " << p);
path_list.insert(path_list.end(), p);
}
}
/*
* We return either one or two models. LoD logic elsewhere relies on this,
* so anything else is a logic error in the above code.
*/
assert(path_list.size() != 0);
assert(path_list.size() < 3);
return path_list;
}
bool FGAIBase::init(ModelSearchOrder searchOrder)
{
if (_model.valid())
{
SG_LOG(SG_AI, SG_ALERT, "AIBase: Cannot initialize a model multiple times! " << model_path);
return false;
}
props->addChild("type")->setStringValue("AI");
_modeldata = new FGAIModelData(props);
_modeldata->addErrorContext("ai", _name);
_modeldata->captureErrorContext("scenario-path");
// set by FGAISchedule::createAIAircraft
_modeldata->captureErrorContext("traffic-aircraft-callsign");
if (_otype == object_type::otMultiplayer) {
_modeldata->addErrorContext("multiplayer", getCallSign());
}
// Load models
_model = new osg::LOD();
vector<string> model_list = resolveModelPath(searchOrder);
if(model_list.size() == 1 && _modeldata && _modeldata->hasInteriorPath()) {
// Only one model and interior available (expecting this to be a high_res model)
_low_res = new osg::PagedLOD(); // Dummy node to keep LOD node happy
_model->addChild(_low_res);
_high_res = SGModelLib::loadPagedModel(model_list[0], props, _modeldata);
_group = osg::ref_ptr<osg::Group>(new osg::Group());
_group->addChild(_high_res);
_model->addChild(_group);
} else if (model_list.size() == 1) {
// low_res model only (as we do not have any interior)
_low_res = SGModelLib::loadPagedModel(model_list[0], props, _modeldata);
_model->addChild(_low_res);
_group = osg::ref_ptr<osg::Group>(new osg::Group()); // Dummy node to keep LOD node happy
_model->addChild(_group);
} else {
// high and low-res model
assert(model_list.size() == 2);
_low_res = SGModelLib::loadPagedModel(model_list[0], props, _modeldata);
_model->addChild(_low_res);
_high_res = SGModelLib::loadPagedModel(model_list[1], props, _modeldata);
_group = osg::ref_ptr<osg::Group>(new osg::Group());
_group->addChild(_high_res);
_model->addChild(_group);
}
// Set PagedLODs to MAX Range. The visibility is controlled with the top-level LOD node
if(_high_res.valid()) {
_high_res->setRangeMode(osg::LOD::DISTANCE_FROM_EYE_POINT);
_high_res->setRange(0, 0, FLT_MAX);
}
if(_low_res.valid()) {
_low_res->setRangeMode(osg::LOD::DISTANCE_FROM_EYE_POINT);
_low_res->setRange(0, 0, FLT_MAX);
}
_model->setName("AI-model range animation node");
_model->setRadius(getDefaultModelRadius());
updateLOD();
initModel();
if (_model.valid() && _initialized == false) {
aip.init( _model.get() );
aip.setVisible(true);
invisible = false;
auto scenery = globals->get_scenery();
if (scenery) {
scenery->get_models_branch()->addChild(aip.getSceneGraph());
}
_initialized = true;
SG_LOG(SG_AI, SG_DEBUG, "AIBase: Loaded model " << model_path);
} else if (!model_path.empty()) {
SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path);
// not properly installed...
_installed = false;
}
setDie(false);
return true;
}
void FGAIBase::initModel()
{
if (_model.valid()) {
if( _path != ""){
props->setStringValue("submodels/path", _path.c_str());
SG_LOG(SG_AI, SG_DEBUG, "AIBase: submodels/path " << _path);
}
if( _parent!= ""){
props->setStringValue("parent-name", _parent.c_str());
}
fgSetString("/ai/models/model-added", props->getPath().c_str());
} else if (!model_path.empty()) {
SG_LOG(SG_AI, SG_WARN, "AIBase: Could not load model " << model_path);
}
setDie(false);
}
bool FGAIBase::isa( object_type otype ) {
return otype == _otype;
}
void FGAIBase::bind() {
_tiedProperties.setRoot(props);
tie("id", SGRawValueMethods<FGAIBase,int>(*this,
&FGAIBase::getID));
tie("velocities/true-airspeed-kt", SGRawValuePointer<double>(&speed));
tie("velocities/vertical-speed-fps",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getVS_fps,
&FGAIBase::_setVS_fps));
tie("position/altitude-ft",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getAltitude,
&FGAIBase::_setAltitude));
tie("position/latitude-deg",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getLatitude,
&FGAIBase::_setLatitude));
tie("position/longitude-deg",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getLongitude,
&FGAIBase::_setLongitude));
tie("position/global-x",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getCartPosX,
nullptr));
tie("position/global-y",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getCartPosY,
nullptr));
tie("position/global-z",
SGRawValueMethods<FGAIBase,double>(*this,
&FGAIBase::_getCartPosZ,
nullptr));
tie("callsign",
SGRawValueMethods<FGAIBase,const char*>(*this,
&FGAIBase::_getCallsign,
nullptr));
// 2018.2 - to ensure consistent properties also tie the callsign to where it would be in a local model.
tie("sim/multiplay/callsign",
SGRawValueMethods<FGAIBase, const char*>(*this, &FGAIBase::_getCallsign, nullptr));
tie("orientation/pitch-deg", SGRawValuePointer<double>(&pitch));
tie("orientation/roll-deg", SGRawValuePointer<double>(&roll));
tie("orientation/true-heading-deg", SGRawValuePointer<double>(&hdg));
tie("radar/in-range", SGRawValuePointer<bool>(&in_range));
tie("radar/bearing-deg", SGRawValuePointer<double>(&bearing));
tie("radar/elevation-deg", SGRawValuePointer<double>(&elevation));
tie("radar/range-nm", SGRawValuePointer<double>(&range));
tie("radar/h-offset", SGRawValuePointer<double>(&horiz_offset));
tie("radar/v-offset", SGRawValuePointer<double>(&vert_offset));
tie("radar/x-shift", SGRawValuePointer<double>(&x_shift));
tie("radar/y-shift", SGRawValuePointer<double>(&y_shift));
tie("radar/rotation", SGRawValuePointer<double>(&rotation));
tie("radar/ht-diff-ft", SGRawValuePointer<double>(&ht_diff));
tie("subID", SGRawValuePointer<int>(&_subID));
props->setStringValue("sim/model/path", model_path);
// note: AIAircraft creates real SGPropertyNodes for these, we don't do
// that here because it would bloat AIBase slightly
props->setBoolValue("controls/glide-path", true);
props->setStringValue("controls/flight/lateral-mode", "roll");
props->setDoubleValue("controls/flight/target-hdg", hdg);
props->setDoubleValue("controls/flight/target-roll", roll);
props->setStringValue("controls/flight/vertical-mode", "alt");
// The property above was incorrectly labelled 'longitude-mode' up until
// FG 2018.4, so create an alias in case anyone is relying on the old name
auto node = props->getNode("controls/flight/longitude-mode", true);
node->alias(props->getNode("controls/flight/vertical-mode"));
props->setDoubleValue("controls/flight/target-alt", altitude_ft);
props->setDoubleValue("controls/flight/target-pitch", pitch);
props->setDoubleValue("controls/flight/target-spd", speed);
props->setBoolValue("sim/sound/avionics/enabled", false);
props->setDoubleValue("sim/sound/avionics/volume", 0.0);
props->setBoolValue("sim/sound/avionics/external-view", false);
props->setBoolValue("sim/current-view/internal", false);
}
void FGAIBase::unbind() {
_tiedProperties.Untie();
props->setBoolValue("/sim/controls/radar", true);
removeSoundFx();
}
void FGAIBase::removeSoundFx() {
// drop reference to sound effects now
if (_fx)
{
// must remove explicitly - since the sound manager also keeps a reference
_fx->unbind();
// now drop last reference - kill the object
_fx = 0;
}
}
double FGAIBase::UpdateRadar(FGAIManager* manager)
{
if (!manager->isRadarEnabled())
return 0.0;
const double radar_range_m = manager->radarRangeM() * 1.1; // + 10%
bool force_on = manager->enableRadarDebug();
double d = dist(SGVec3d::fromGeod(pos), globals->get_aircraft_position_cart());
double dFt = d * SG_METER_TO_FEET;
in_range = (d < radar_range_m);
if (!force_on && !in_range) {
return dFt * dFt;
}
// copy values from the AIManager
double user_heading = manager->get_user_heading();
double user_pitch = manager->get_user_pitch();
range = d * SG_METER_TO_NM;
// calculate bearing to target
bearing = SGGeodesy::courseDeg(globals->get_aircraft_position(), pos);
// calculate look left/right to target, without yaw correction
horiz_offset = bearing - user_heading;
SG_NORMALIZE_RANGE(horiz_offset, -180.0, 180.0);
// calculate elevation to target
ht_diff = altitude_ft - globals->get_aircraft_position().getElevationFt();
elevation = atan2( ht_diff, dFt ) * SG_RADIANS_TO_DEGREES;
// calculate look up/down to target
vert_offset = elevation - user_pitch;
/* this calculation needs to be fixed, but it isn't important anyway
// calculate range rate
double recip_bearing = bearing + 180.0;
if (recip_bearing > 360.0) recip_bearing -= 360.0;
double my_horiz_offset = recip_bearing - hdg;
if (my_horiz_offset > 180.0) my_horiz_offset -= 360.0;
if (my_horiz_offset < -180.0) my_horiz_offset += 360.0;
rdot = (-user_speed * cos( horiz_offset * SG_DEGREES_TO_RADIANS ))
+(-speed * 1.686 * cos( my_horiz_offset * SG_DEGREES_TO_RADIANS ));
*/
// now correct look left/right for yaw
// horiz_offset += user_yaw; // FIXME: WHY WOULD WE WANT TO ADD IN SIDE-SLIP HERE?
// calculate values for radar display
y_shift = range * cos( horiz_offset * SG_DEGREES_TO_RADIANS);
x_shift = range * sin( horiz_offset * SG_DEGREES_TO_RADIANS);
rotation = hdg - user_heading;
SG_NORMALIZE_RANGE(rotation, 0.0, 360.0);
return dFt * dFt;
}
/*
* Getters and Setters
*/
SGVec3d FGAIBase::getCartPosAt(const SGVec3d& _off) const {
// Transform that one to the horizontal local coordinate system.
SGQuatd hlTrans = SGQuatd::fromLonLat(pos);
// and postrotate the orientation of the AIModel wrt the horizontal
// local frame
hlTrans *= SGQuatd::fromYawPitchRollDeg(hdg, pitch, roll);
// The offset converted to the usual body fixed coordinate system
// rotated to the earth fixed coordinates axis
SGVec3d off = hlTrans.backTransform(_off);
// Add the position offset of the AIModel to gain the earth centered position
SGVec3d cartPos = SGVec3d::fromGeod(pos);
return cartPos + off;
}
SGVec3d FGAIBase::getCartPos() const {
SGVec3d cartPos = SGVec3d::fromGeod(pos);
return cartPos;
}
bool FGAIBase::getGroundElevationM(const SGGeod& pos, double& elev,
const simgear::BVHMaterial** material) const {
return globals->get_scenery()->get_elevation_m(pos, elev, material,
_model.get());
}
SGPropertyNode* FGAIBase::getPositionFromNode(SGPropertyNode* scFileNode, const std::string &key, SGVec3d &position) {
SGPropertyNode* positionNode = scFileNode->getChild(key);
if (positionNode) {
// 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
position(0) = -positionNode->getDoubleValue("x-offset-m", 0);
position(1) = positionNode->getDoubleValue("y-offset-m", 0);
position(2) = -positionNode->getDoubleValue("z-offset-m", 0);
return positionNode;
}
else
position = SGVec3d::zeros();
return nullptr;
}
double FGAIBase::_getCartPosX() const {
SGVec3d cartPos = getCartPos();
return cartPos.x();
}
double FGAIBase::_getCartPosY() const {
SGVec3d cartPos = getCartPos();
return cartPos.y();
}
double FGAIBase::_getCartPosZ() const {
SGVec3d cartPos = getCartPos();
return cartPos.z();
}
void FGAIBase::_setLongitude( double longitude ) {
pos.setLongitudeDeg(longitude);
}
void FGAIBase::_setLatitude ( double latitude ) {
pos.setLatitudeDeg(latitude);
}
void FGAIBase::_setSubID( int s ) {
_subID = s;
}
bool FGAIBase::setParentNode() {
if (_parent == ""){
SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name << " parent not set ");
return false;
}
const SGPropertyNode_ptr ai = fgGetNode("/ai/models", true);
for (int i = ai->nChildren() - 1; i >= -1; i--) {
SGPropertyNode_ptr model;
if (i < 0) { // last iteration: selected model
model = _selected_ac;
} else {
model = ai->getChild(i);
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){
// DEADCODE: const string name = _selected_ac->getStringValue("name");
return true;
} else {
SG_LOG(SG_AI, SG_ALERT, "AIBase: " << _name << " parent not found: dying ");
setDie(true);
return false;
}
}
double FGAIBase::_getLongitude() const {
return pos.getLongitudeDeg();
}
double FGAIBase::_getLatitude() const {
return pos.getLatitudeDeg();
}
double FGAIBase::_getElevationFt() const {
return pos.getElevationFt();
}
double FGAIBase::_getRdot() const {
return rdot;
}
double FGAIBase::_getVS_fps() const {
return vs_fps;
}
double FGAIBase::_get_speed_east_fps() const {
return speed_east_deg_sec * ft_per_deg_lon;
}
double FGAIBase::_get_speed_north_fps() const {
return speed_north_deg_sec * ft_per_deg_lat;
}
void FGAIBase::_setVS_fps( double _vs ) {
vs_fps = _vs;
}
double FGAIBase::_getAltitude() const {
return altitude_ft;
}
double FGAIBase::_getAltitudeAGL(SGGeod inpos, double start){
getGroundElevationM(SGGeod::fromGeodM(inpos, start),
_elevation_m, NULL);
return inpos.getElevationFt() - _elevation_m * SG_METER_TO_FEET;
}
bool FGAIBase::_getServiceable() const {
return serviceable;
}
SGPropertyNode* FGAIBase::_getProps() const {
return props;
}
void FGAIBase::_setAltitude( double _alt ) {
setAltitude( _alt );
}
bool FGAIBase::_isNight() {
return (fgGetFloat("/sim/time/sun-angle-rad") > 1.57);
}
bool FGAIBase::_getCollisionData() {
return _collision_reported;
}
bool FGAIBase::_getExpiryData() {
return _expiry_reported;
}
bool FGAIBase::_getImpactData() {
return _impact_reported;
}
double FGAIBase::_getImpactLat() const {
return _impact_lat;
}
double FGAIBase::_getImpactLon() const {
return _impact_lon;
}
double FGAIBase::_getImpactElevFt() const {
return _impact_elev * SG_METER_TO_FEET;
}
double FGAIBase::_getImpactPitch() const {
return _impact_pitch;
}
double FGAIBase::_getImpactRoll() const {
return _impact_roll;
}
double FGAIBase::_getImpactHdg() const {
return _impact_hdg;
}
double FGAIBase::_getImpactSpeed() const {
return _impact_speed;
}
int FGAIBase::getID() const {
return _refID;
}
int FGAIBase::_getSubID() const {
return _subID;
}
double FGAIBase::_getSpeed() const {
return speed;
}
double FGAIBase::_getRoll() const {
return roll;
}
double FGAIBase::_getPitch() const {
return pitch;
}
double FGAIBase::_getHeading() const {
return hdg;
}
double FGAIBase::_getXOffset() const {
return _x_offset;
}
double FGAIBase::_getYOffset() const {
return _y_offset;
}
double FGAIBase::_getZOffset() const {
return _z_offset;
}
const char* FGAIBase::_getPath() const {
return model_path.c_str();
}
const char* FGAIBase::_getSMPath() const {
return _path.c_str();
}
const char* FGAIBase::_getName() const {
return _name.c_str();
}
const char* FGAIBase::_getCallsign() const {
return _callsign.c_str();
}
const char* FGAIBase::_getSubmodel() const {
return _submodel.c_str();
}
int FGAIBase::_getFallbackModelIndex() const {
return _fallback_model_index;
}
void FGAIBase::CalculateMach() {
// Calculate rho at altitude, using standard atmosphere
// For the temperature T and the pressure p,
double altitude = altitude_ft;
if (altitude < 36152) { // curve fits for the troposphere
T = 59 - 0.00356 * altitude;
p = 2116 * pow( ((T + 459.7) / 518.6) , 5.256);
} else if ( 36152 < altitude && altitude < 82345 ) { // lower stratosphere
T = -70;
p = 473.1 * pow( e , 1.73 - (0.000048 * altitude) );
} else { // upper stratosphere
T = -205.05 + (0.00164 * altitude);
p = 51.97 * pow( ((T + 459.7) / 389.98) , -11.388);
}
rho = p / (1718 * (T + 459.7));
// calculate the speed of sound at altitude
// a = sqrt ( g * R * (T + 459.7))
// where:
// a = speed of sound [ft/s]
// g = specific heat ratio, which is usually equal to 1.4
// R = specific gas constant, which equals 1716 ft-lb/slug/R
a = sqrt ( 1.4 * 1716 * (T + 459.7));
// calculate Mach number
Mach = speed/a;
// cout << "Speed(ft/s) "<< speed <<" Altitude(ft) "<< altitude << " Mach " << Mach << endl;
}
int FGAIBase::_newAIModelID() {
static int id = 0;
if (!++id)
id++; // id = 0 is not allowed.
return id;
}
void FGAIBase::setFlightPlan(std::unique_ptr<FGAIFlightPlan> f)
{
fp = std::move(f);
}
bool FGAIBase::isValid() const
{
//Either no flightplan or it is valid
return !fp || fp->isValidPlan();
}
osg::LOD* FGAIBase::getSceneBranch() const
{
return _model;
}
bool FGAIBase::modelLoaded() const
{
if(_low_res.valid())
return _low_res->getNumChildren() >= 1;
else if (_high_res.valid())
return _high_res->getNumChildren() >= 1;
return false;
}
SGGeod FGAIBase::getGeodPos() const
{
return pos;
}
void FGAIBase::setGeodPos(const SGGeod& geod)
{
pos = geod;
}
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