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// FGAICarrier - FGAIShip-derived class creates an AI aircraft carrier
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// Written by David Culp, started October 2004.
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// - davidculp2@comcast.net
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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#include <simgear/math/point3d.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <Main/util.hxx>
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#include <Main/viewer.hxx>
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#include "AICarrier.hxx"
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FGAICarrier::FGAICarrier(FGAIManager* mgr) : FGAIShip(mgr) {
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FGAICarrier::~FGAICarrier() {
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void FGAICarrier::setSolidObjects(const list<string>& so) {
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void FGAICarrier::setWireObjects(const list<string>& wo) {
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void FGAICarrier::setCatapultObjects(const list<string>& co) {
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catapult_objects = co;
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void FGAICarrier::getVelocityWrtEarth(sgVec3 v) {
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sgCopyVec3(v, vel_wrt_earth );
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void FGAICarrier::update(double dt) {
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// Update the velocity information stored in those nodes.
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double v_north = 0.51444444*speed*cos(hdg * SGD_DEGREES_TO_RADIANS);
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double v_east = 0.51444444*speed*sin(hdg * SGD_DEGREES_TO_RADIANS);
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double sin_lat = sin(pos.lat() * SGD_DEGREES_TO_RADIANS);
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double cos_lat = cos(pos.lat() * SGD_DEGREES_TO_RADIANS);
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double sin_lon = sin(pos.lon() * SGD_DEGREES_TO_RADIANS);
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double cos_lon = cos(pos.lon() * SGD_DEGREES_TO_RADIANS);
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sgSetVec3( vel_wrt_earth,
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- cos_lon*sin_lat*v_north - sin_lon*v_east,
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- sin_lon*sin_lat*v_north + cos_lon*v_east,
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bool FGAICarrier::init() {
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if (!FGAIShip::init())
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// process the 3d model here
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// mark some objects solid, mark the wires ...
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// The model should be used for altitude computations.
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// To avoid that every detail in a carrier 3D model will end into
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// the aircraft local cache, only set the HOT traversal bit on
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ssgEntity *sel = aip.getSceneGraph();
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// Clear the HOT traversal flag
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// Selectively set that flag again for wires/cats/solid objects.
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// Attach a pointer to this carrier class to those objects.
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mark_wires(sel, wire_objects);
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mark_cat(sel, catapult_objects);
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mark_solid(sel, solid_objects);
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void FGAICarrier::bind() {
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props->tie("controls/flols/source-lights",
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SGRawValuePointer<int>(&source));
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props->tie("controls/flols/distance-m",
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SGRawValuePointer<double>(&dist));
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props->setBoolValue("controls/flols/cut-lights", false);
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props->setBoolValue("controls/flols/wave-off-lights", false);
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props->setBoolValue("controls/flols/cond-datum-lights", true);
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void FGAICarrier::unbind() {
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props->untie("controls/flols/source-lights");
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void FGAICarrier::mark_nohot(ssgEntity* e) {
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if (e->isAKindOf(ssgTypeBranch())) {
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ssgBranch* br = (ssgBranch*)e;
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for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
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br->clrTraversalMaskBits(SSGTRAV_HOT);
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} else if (e->isAKindOf(ssgTypeLeaf())) {
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e->clrTraversalMaskBits(SSGTRAV_HOT);
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bool FGAICarrier::mark_wires(ssgEntity* e, const list<string>& wire_objects, bool mark) {
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if (e->isAKindOf(ssgTypeBranch())) {
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ssgBranch* br = (ssgBranch*)e;
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list<string>::const_iterator it;
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for (it = wire_objects.begin(); it != wire_objects.end(); ++it)
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mark = mark || (e->getName() && (*it) == e->getName());
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for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
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found = mark_wires(kid, wire_objects, mark) || found;
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br->setTraversalMaskBits(SSGTRAV_HOT);
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} else if (e->isAKindOf(ssgTypeLeaf())) {
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list<string>::const_iterator it;
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for (it = wire_objects.begin(); it != wire_objects.end(); ++it) {
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if (mark || (e->getName() && (*it) == e->getName())) {
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e->setTraversalMaskBits(SSGTRAV_HOT);
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ssgBase* ud = e->getUserData();
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FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
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SG_LOG(SG_GENERAL, SG_WARN,
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"AICarrier: Carrier hardware gets marked twice!\n"
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" You have propably a whole branch marked as"
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" a wire which also includes other carrier hardware."
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SG_LOG(SG_GENERAL, SG_ALERT,
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"AICarrier: Found user data attached to a leaf node which "
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"should be marked as a wire!\n ****Skipping!****");
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e->setUserData( FGAICarrierHardware::newWire( this ) );
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ssgLeaf *l = (ssgLeaf*)e;
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if ( l->getNumLines() != 1 ) {
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SG_LOG(SG_GENERAL, SG_ALERT,
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"AICarrier: Found wires not modelled with exactly one line!");
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bool FGAICarrier::mark_solid(ssgEntity* e, const list<string>& solid_objects, bool mark) {
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if (e->isAKindOf(ssgTypeBranch())) {
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ssgBranch* br = (ssgBranch*)e;
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list<string>::const_iterator it;
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for (it = solid_objects.begin(); it != solid_objects.end(); ++it)
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mark = mark || (e->getName() && (*it) == e->getName());
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for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
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found = mark_solid(kid, solid_objects, mark) || found;
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br->setTraversalMaskBits(SSGTRAV_HOT);
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} else if (e->isAKindOf(ssgTypeLeaf())) {
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list<string>::const_iterator it;
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for (it = solid_objects.begin(); it != solid_objects.end(); ++it) {
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if (mark || (e->getName() && (*it) == e->getName())) {
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e->setTraversalMaskBits(SSGTRAV_HOT);
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ssgBase* ud = e->getUserData();
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FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
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SG_LOG(SG_GENERAL, SG_WARN,
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"AICarrier: Carrier hardware gets marked twice!\n"
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" You have propably a whole branch marked solid"
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" which also includes other carrier hardware."
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SG_LOG(SG_GENERAL, SG_ALERT,
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"AICarrier: Found user data attached to a leaf node which "
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"should be marked solid!\n ****Skipping!****");
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e->setUserData( FGAICarrierHardware::newSolid( this ) );
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bool FGAICarrier::mark_cat(ssgEntity* e, const list<string>& cat_objects, bool mark) {
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if (e->isAKindOf(ssgTypeBranch())) {
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ssgBranch* br = (ssgBranch*)e;
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list<string>::const_iterator it;
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for (it = cat_objects.begin(); it != cat_objects.end(); ++it)
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mark = mark || (e->getName() && (*it) == e->getName());
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for ( kid = br->getKid(0); kid != NULL ; kid = br->getNextKid() )
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found = mark_cat(kid, cat_objects, mark) || found;
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br->setTraversalMaskBits(SSGTRAV_HOT);
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} else if (e->isAKindOf(ssgTypeLeaf())) {
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list<string>::const_iterator it;
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for (it = cat_objects.begin(); it != cat_objects.end(); ++it) {
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if (mark || (e->getName() && (*it) == e->getName())) {
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e->setTraversalMaskBits(SSGTRAV_HOT);
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ssgBase* ud = e->getUserData();
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FGAICarrierHardware* ch = dynamic_cast<FGAICarrierHardware*>(ud);
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SG_LOG(SG_GENERAL, SG_WARN,
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"AICarrier: Carrier hardware gets marked twice!\n"
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" You have propably a whole branch marked as"
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" a catapult which also includes other carrier hardware."
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SG_LOG(SG_GENERAL, SG_ALERT,
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"AICarrier: Found user data attached to a leaf node which "
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"should be marked as a catapult!\n ****Skipping!****");
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e->setUserData( FGAICarrierHardware::newCatapult( this ) );
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ssgLeaf *l = (ssgLeaf*)e;
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if ( l->getNumLines() != 1 ) {
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SG_LOG(SG_GENERAL, SG_ALERT,
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"AICarrier: Found a cat not modelled with exactly "
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// Now some special code to make sure the cat points in the right
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// direction. The 0 index must be the backward end, the 1 index
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// Forward is positive x-direction in our 3D model, also the model
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// as such is flattened when it is loaded, so we do not need to
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// care for transforms ...
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l->getLine(0, v, v+1 );
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for (int k=0; k<2; ++k)
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sgCopyVec3( ends[k], l->getVertex( v[k] ) );
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// When the 1 end is behind the 0 end, swap the coordinates.
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if (ends[0][0] < ends[1][0]) {
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sgCopyVec3( l->getVertex( v[0] ), ends[1] );
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sgCopyVec3( l->getVertex( v[1] ), ends[0] );
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void FGAICarrier::UpdateFlols( double dt) {
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/* cout << "x_offset " << flols_x_offset
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<< " y_offset " << flols_y_offset
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<< " z_offset " << flols_z_offset << endl;
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cout << "roll " << roll
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<< " heading " << hdg
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<< " pitch " << pitch << endl;
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cout << "carrier lon " << pos[0]
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<< " alt " << pos[2] << endl;*/
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// set the Flols intitial position to the carrier position
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/* cout << "flols lon " << flolspos[0]
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<< " lat " << flolspos[1]
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<< " alt " << flolspos[2] << endl;*/
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// set the offsets in metres
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/* cout << "flols_x_offset " << flols_x_offset << endl
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<< "flols_y_offset " << flols_y_offset << endl
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<< "flols_z_offset " << flols_z_offset << endl;*/
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in[0] = flols_x_offset;
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in[1] = flols_y_offset;
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in[2] = flols_z_offset;
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// pre-process the trig functions
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cosRx = cos(roll * SG_DEGREES_TO_RADIANS);
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sinRx = sin(roll * SG_DEGREES_TO_RADIANS);
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cosRy = cos(pitch * SG_DEGREES_TO_RADIANS);
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sinRy = sin(pitch * SG_DEGREES_TO_RADIANS);
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cosRz = cos(hdg * SG_DEGREES_TO_RADIANS);
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sinRz = sin(hdg * SG_DEGREES_TO_RADIANS);
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// set up the transform matrix
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trans[0][0] = cosRy * cosRz;
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trans[0][1] = -1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
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trans[0][2] = sinRx * sinRz + cosRx * sinRy * cosRz;
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trans[1][0] = cosRy * sinRz;
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trans[1][1] = cosRx * cosRz + sinRx * sinRy * sinRz;
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trans[1][2] = -1 * sinRx * cosRx + cosRx * sinRy * sinRz;
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trans[2][0] = -1 * sinRy;
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trans[2][1] = sinRx * cosRy;
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trans[2][2] = cosRx * cosRy;
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// multiply the input and transform matrices
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out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
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out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2];
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out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2];
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// convert meters to ft to degrees of latitude
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out[0] = (out[0] * 3.28083989501) /(366468.96 - 3717.12 * cos(flolspos[0] * SG_DEGREES_TO_RADIANS));
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// convert meters to ft to degrees of longitude
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out[1] = (out[1] * 3.28083989501)/(365228.16 * cos(flolspos[1] * SG_DEGREES_TO_RADIANS));
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//print out the result
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/* cout << "lat adjust deg" << out[0]
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<< " lon adjust deg " << out[1]
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<< " alt adjust m " << out[2] << endl;*/
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// adjust Flols position
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flolspos[0] += out[0];
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flolspos[1] += out[1];
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flolspos[2] += out[2];
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// convert flols position to cartesian co-ordinates
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sgGeodToCart(flolspos[1] * SG_DEGREES_TO_RADIANS,
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flolspos[0] * SG_DEGREES_TO_RADIANS,
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flolspos[2] , flolsXYZ );
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/* cout << "flols X " << flolsXYZ[0]
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<< " Y " << flolsXYZ[1]
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<< " Z " << flolsXYZ[2] << endl;
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// check the conversion
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sgCartToGeod(flolsXYZ, &lat, &lon, &alt);
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cout << "flols check lon " << lon
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<< " alt " << alt << endl; */
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//get the current position of the pilot's eyepoint (cartesian cordinates)
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sgdCopyVec3( eyeXYZ, globals->get_current_view()->get_absolute_view_pos() );
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/* cout << "Eye_X " << eyeXYZ[0]
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<< " Eye_Y " << eyeXYZ[1]
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<< " Eye_Z " << eyeXYZ[2] << endl; */
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sgCartToGeod(eyeXYZ, &lat, &lon, &alt);
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eyepos[0] = lon * SG_RADIANS_TO_DEGREES;
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eyepos[1] = lat * SG_RADIANS_TO_DEGREES;
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/* cout << "eye lon " << eyepos[0]
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<< " eye lat " << eyepos[1]
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<< " eye alt " << eyepos[2] << endl; */
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//calculate the ditance from eye to flols
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dist = sgdDistanceVec3( flolsXYZ, eyeXYZ );
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//cout << "distance " << dist << endl;
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// calculate height above FLOLS
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double y = eyepos[2] - flolspos[2];
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// calculate the angle from the flols to eye
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// above the horizontal
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angle = asin( y / dist );
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angle *= SG_RADIANS_TO_DEGREES;
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// cout << " height " << y << " angle " << angle ;
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// set the value of source
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if ( angle <= 4.35 && angle > 4.01 )
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else if ( angle <= 4.01 && angle > 3.670 )
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else if ( angle <= 3.670 && angle > 3.330 )
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else if ( angle <= 3.330 && angle > 2.990 )
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else if ( angle <= 2.990 && angle > 2.650 )
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else if ( angle <= 2.650 )
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// cout << " source " << source << endl;
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int FGAICarrierHardware::unique_id = 1;
added
removed
src/AIModel/AICarrier.cxx
