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109 lines
4.5 KiB
109 lines
4.5 KiB
// Copyright (C) 2009 - 2012 Mathias Froehlich
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//
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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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//
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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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//
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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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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#ifndef AIPhysics_hxx
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#define AIPhysics_hxx
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#include <simgear/math/SGMath.hxx>
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#include "AISubsystem.hxx"
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namespace fgai {
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class AIPhysics : public AISubsystem {
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public:
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/// Initial conditions need to be set at creation time.
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/// Just setting the position underway will result in unphysical motion.
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AIPhysics(const AIPhysics& physics);
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AIPhysics(const SGLocationd& location, const SGVec3d& linearBodyVelocity = SGVec3d::zeros(),
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const SGVec3d& angularBodyVelocity = SGVec3d::zeros());
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virtual ~AIPhysics();
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/// The default is unaccelerated movement
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virtual void update(AIObject& object, const SGTimeStamp& dt);
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/// The current state
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const SGLocationd& getLocation() const
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{ return _location; }
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const SGVec3d& getPosition() const
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{ return _location.getPosition(); }
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const SGQuatd& getOrientation() const
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{ return _location.getOrientation(); }
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const SGGeod& getGeodPosition() const
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{ return _geodPosition; }
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const SGQuatd& getHorizontalLocalOrientation() const
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{ return _horizontalLocalOrientation; }
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/// The orientation of the body wrt the geodetic ned coordinate system
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SGQuatd getGeodOrientation() const
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{ return inverse(_horizontalLocalOrientation)*_location.getOrientation(); }
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const SGVec3d& getLinearBodyVelocity() const
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{ return _linearBodyVelocity; }
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const SGVec3d& getAngularBodyVelocity() const
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{ return _angularBodyVelocity; }
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/// The velocity in global cartesian coordinates
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SGVec3d getLinearVelocity() const
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{ return _location.getOrientation().backTransform(_linearBodyVelocity); }
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/// The velocity in the north east down coordinate system
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/// Note that this gets undefined at the poles.
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SGVec3d getGeodVelocity() const
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{ return getGeodOrientation().backTransform(getLinearBodyVelocity()); }
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double getDownVelocity() const
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{ return getGeodVelocity()[2]; }
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SGVec2d getHorizontalVelocity() const
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{ SGVec3d v = getGeodVelocity(); return SGVec2d(v[0], v[1]); }
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protected:
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/// The below methods change the position and velocity of the vehicle
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/// in a way that is consistent in that it matches position, velocity
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/// values to keep the velocity a numerical derivative of the position.
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/// Given the accelerations at the current simulation time mSimTime,
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/// update the position and velocity to mSimTime + dt.
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/// This is the primary advance mode for physically simulated motion.
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/// Compute the forces on the single body, compute the accelerations
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/// from the forces by newtons law and accelerate by this amount.
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void advanceByBodyAcceleration(const double& dt,
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const SGVec3d& linearAcceleration,
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const SGVec3d& angularAcceleration);
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/// Given the velocities at the next simulation time mSimTime,
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/// update the position and velocity to mSimTime + dt.
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void advanceByBodyVelocity(const double& dt,
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const SGVec3d& linearVelocity,
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const SGVec3d& angularVelocity);
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/// Given the desired position and orientation, a pair of velocities
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/// is computed to reach that position and orientation in the
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/// next advance step. This one advance step latency is important
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/// for other participants to correctly extrapolate the position
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/// and orientation based on the velocities.
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/// Note that this only works when the next update is called with
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/// the same time increment.
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void advanceToLocation(const double& dt, const SGLocationd& location);
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private:
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AIPhysics& operator=(const AIPhysics& physics);
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SGLocationd _location;
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SGVec3d _linearBodyVelocity;
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SGVec3d _angularBodyVelocity;
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SGGeod _geodPosition;
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SGQuatd _horizontalLocalOrientation;
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};
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} // namespace fgai
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#endif
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