// NOTE: VehicleAI::UpdateAI runs even while the vehicle is mounted
void VehicleAI::UpdateAI(uint32 diff)
{
CheckConditions(diff);
if (m_DoDismiss)
{
if (m_DismissTimer < diff)
{
m_DoDismiss = false;
me->DespawnOrUnsummon();
}
else
m_DismissTimer -= diff;
}
}
//NOTE: VehicleAI::UpdateAI runs even while the vehicle is mounted
void VehicleAI::UpdateAI(const uint32 diff)
{
CheckConditions(diff);
if (m_DoDismiss)
{
if (m_DismissTimer < diff)
{
m_DoDismiss = false;
me->SetVisible(false);
me->ForcedDespawn();
}
else
m_DismissTimer -= diff;
}
}
void SmartAI::UpdateAI(uint32 diff)
{
CheckConditions(diff);
GetScript()->OnUpdate(diff);
UpdatePath(diff);
UpdateFollow(diff);
UpdateDespawn(diff);
if (!IsAIControlled())
return;
if (!UpdateVictim())
return;
if (mCanAutoAttack)
DoMeleeAttackIfReady();
}
/**
* GetPointInfo builds the PvlGroup containing all the important
* information derived from the Camera.
*
* @return PvlGroup* Data taken directly from the Camera and
* drived from Camera information. Ownership passed.
*/
PvlGroup * CameraPointInfo::GetPointInfo() {
CheckConditions();
Brick b(3,3,1,currentCube->PixelType());
int intSamp = (int)(camera->Sample() + 0.5);
int intLine = (int)(camera->Line() + 0.5);
b.SetBasePosition(intSamp, intLine, 1);
currentCube->Read(b);
double pB[3], spB[3], sB[3];
string utc;
double ssplat, ssplon, sslat, sslon, pwlon, oglat;
// Create group with ground position
PvlGroup * gp = new PvlGroup("GroundPoint");
{
gp->AddKeyword(PvlKeyword("Filename",currentCube->Filename()));
gp->AddKeyword(PvlKeyword("Sample",camera->Sample()));
gp->AddKeyword(PvlKeyword("Line",camera->Line()));
gp->AddKeyword(PvlKeyword("PixelValue",PixelToString(b[0])));
gp->AddKeyword(PvlKeyword("RightAscension",camera->RightAscension()));
gp->AddKeyword(PvlKeyword("Declination",camera->Declination()));
gp->AddKeyword(PvlKeyword("PlanetocentricLatitude",
camera->UniversalLatitude()));
// Convert lat to planetographic
double radii[3];
camera->Radii(radii);
oglat = Isis::Projection::ToPlanetographic(camera->UniversalLatitude(),
radii[0],radii[2]);
gp->AddKeyword(PvlKeyword("PlanetographicLatitude",oglat));
gp->AddKeyword(PvlKeyword("PositiveEast360Longitude",
camera->UniversalLongitude()));
//Convert lon to -180 - 180 range
gp->AddKeyword(PvlKeyword("PositiveEast180Longitude",
Isis::Projection::To180Domain(
camera->UniversalLongitude())));
//Convert lon to positive west
pwlon = Isis::Projection::ToPositiveWest(camera->UniversalLongitude(),
360);
gp->AddKeyword(PvlKeyword("PositiveWest360Longitude",pwlon));
//Convert pwlon to -180 - 180 range
gp->AddKeyword(PvlKeyword("PositiveWest180Longitude",
Isis::Projection::To180Domain(pwlon)));
camera->Coordinate(pB);
PvlKeyword coord("BodyFixedCoordinate");
coord.AddValue(pB[0],"km");
coord.AddValue(pB[1],"km");
coord.AddValue(pB[2],"km");
gp->AddKeyword(coord);
gp->AddKeyword(PvlKeyword("LocalRadius",camera->LocalRadius(),"m"));
gp->AddKeyword(PvlKeyword("SampleResolution",camera->SampleResolution(),"m"));
gp->AddKeyword(PvlKeyword("LineResolution",camera->LineResolution(),"m"));
camera->InstrumentPosition(spB);
PvlKeyword spcoord("SpacecraftPosition");
spcoord.AddValue(spB[0],"km");
spcoord.AddValue(spB[1],"km");
spcoord.AddValue(spB[2],"km");
spcoord.AddComment("Spacecraft Information");
gp->AddKeyword(spcoord);
gp->AddKeyword(PvlKeyword("SpacecraftAzimuth",camera->SpacecraftAzimuth()));
gp->AddKeyword(PvlKeyword("SlantDistance",camera->SlantDistance(),"km"));
gp->AddKeyword(PvlKeyword("TargetCenterDistance",camera->TargetCenterDistance(),"km"));
camera->SubSpacecraftPoint(ssplat,ssplon);
gp->AddKeyword(PvlKeyword("SubSpacecraftLatitude",ssplat));
gp->AddKeyword(PvlKeyword("SubSpacecraftLongitude",ssplon));
gp->AddKeyword(PvlKeyword("SpacecraftAltitude",camera->SpacecraftAltitude(),"km"));
gp->AddKeyword(PvlKeyword("OffNadirAngle",camera->OffNadirAngle()));
double subspcgrdaz;
subspcgrdaz = camera->GroundAzimuth(camera->UniversalLatitude(),camera->UniversalLongitude(),
ssplat,ssplon);
gp->AddKeyword(PvlKeyword("SubSpacecraftGroundAzimuth",subspcgrdaz));
camera->SunPosition(sB);
PvlKeyword scoord("SunPosition");
scoord.AddValue(sB[0],"km");
scoord.AddValue(sB[1],"km");
scoord.AddValue(sB[2],"km");
scoord.AddComment("Sun Information");
gp->AddKeyword(scoord);
gp->AddKeyword(PvlKeyword("SubSolarAzimuth",camera->SunAzimuth()));
gp->AddKeyword(PvlKeyword("SolarDistance",camera->SolarDistance(),"AU"));
camera->SubSolarPoint(sslat,sslon);
gp->AddKeyword(PvlKeyword("SubSolarLatitude",sslat));
gp->AddKeyword(PvlKeyword("SubSolarLongitude",sslon));
double subsolgrdaz;
subsolgrdaz = camera->GroundAzimuth(camera->UniversalLatitude(),camera->UniversalLongitude(),
sslat,sslon);
gp->AddKeyword(PvlKeyword("SubSolarGroundAzimuth",subsolgrdaz));
PvlKeyword phase("Phase",camera->PhaseAngle());
phase.AddComment("Illumination and Other");
gp->AddKeyword(phase);
gp->AddKeyword(PvlKeyword("Incidence",camera->IncidenceAngle()));
gp->AddKeyword(PvlKeyword("Emission",camera->EmissionAngle()));
gp->AddKeyword(PvlKeyword("NorthAzimuth",camera->NorthAzimuth()));
PvlKeyword et("EphemerisTime",camera->EphemerisTime(),"seconds");
et.AddComment("Time");
gp->AddKeyword(et);
iTime t(camera->EphemerisTime());
utc = t.UTC();
gp->AddKeyword(PvlKeyword("UTC",utc));
gp->AddKeyword(PvlKeyword("LocalSolarTime",camera->LocalSolarTime(),"hour"));
gp->AddKeyword(PvlKeyword("SolarLongitude",camera->SolarLongitude()));
}
return gp;
}