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| author | FWoltermann@gmail.com <FWoltermann@gmail.com@076cb2c4-205e-83fd-5cf3-1be9aa105544> | 2012-05-31 14:46:27 +0000 |
|---|---|---|
| committer | FWoltermann@gmail.com <FWoltermann@gmail.com@076cb2c4-205e-83fd-5cf3-1be9aa105544> | 2012-05-31 14:46:27 +0000 |
| commit | 8898ad9b25fca6afe2374d293a981db02a83d7e9 (patch) | |
| tree | 8041e6eb069b6da70b83e82efdb998662140e716 /Doc/doxygen/html/_steer_a_i_8cpp_source.html | |
| parent | 985b945e4b49b5d5a1394e93fc3a95289c05e449 (diff) | |
| download | starshatter-8898ad9b25fca6afe2374d293a981db02a83d7e9.zip starshatter-8898ad9b25fca6afe2374d293a981db02a83d7e9.tar.gz starshatter-8898ad9b25fca6afe2374d293a981db02a83d7e9.tar.bz2 | |
Committing the documentation to svn to have it accessible online
Diffstat (limited to 'Doc/doxygen/html/_steer_a_i_8cpp_source.html')
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diff --git a/Doc/doxygen/html/_steer_a_i_8cpp_source.html b/Doc/doxygen/html/_steer_a_i_8cpp_source.html new file mode 100644 index 0000000..849f782 --- /dev/null +++ b/Doc/doxygen/html/_steer_a_i_8cpp_source.html @@ -0,0 +1,570 @@ +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> +<html xmlns="http://www.w3.org/1999/xhtml"> +<head> +<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> +<meta http-equiv="X-UA-Compatible" content="IE=9"/> +<title>Starshatter_Open: D:/SRC/StarshatterSVN/Stars45/SteerAI.cpp Source File</title> +<link href="tabs.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="jquery.js"></script> +<script type="text/javascript" src="dynsections.js"></script> +<link href="navtree.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="resize.js"></script> +<script type="text/javascript" src="navtree.js"></script> +<script type="text/javascript"> + $(document).ready(initResizable); +</script> +<link href="search/search.css" rel="stylesheet" type="text/css"/> +<script type="text/javascript" src="search/search.js"></script> +<script type="text/javascript"> + $(document).ready(function() { searchBox.OnSelectItem(0); }); +</script> +<link href="doxygen.css" rel="stylesheet" type="text/css" /> +</head> +<body> +<div id="top"><!-- do not remove this div, it is closed by doxygen! --> +<div id="titlearea"> +<table cellspacing="0" cellpadding="0"> + <tbody> + <tr style="height: 56px;"> + <td style="padding-left: 0.5em;"> + <div id="projectname">Starshatter_Open + </div> + <div id="projectbrief">Open source Starshatter engine</div> + </td> + </tr> + </tbody> +</table> +</div> +<!-- end header part --> +<!-- Generated by Doxygen 1.8.1 --> +<script type="text/javascript"> +var searchBox = new SearchBox("searchBox", "search",false,'Search'); +</script> + <div id="navrow1" class="tabs"> + <ul class="tablist"> + <li><a href="index.html"><span>Main Page</span></a></li> + <li><a href="annotated.html"><span>Classes</span></a></li> + <li class="current"><a href="files.html"><span>Files</span></a></li> + <li> + <div id="MSearchBox" class="MSearchBoxInactive"> + <span class="left"> + <img id="MSearchSelect" src="search/mag_sel.png" + onmouseover="return searchBox.OnSearchSelectShow()" + onmouseout="return searchBox.OnSearchSelectHide()" + alt=""/> + <input type="text" id="MSearchField" value="Search" accesskey="S" + onfocus="searchBox.OnSearchFieldFocus(true)" + onblur="searchBox.OnSearchFieldFocus(false)" + onkeyup="searchBox.OnSearchFieldChange(event)"/> + </span><span class="right"> + <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a> + </span> + </div> + </li> + </ul> + </div> + <div id="navrow2" class="tabs2"> + <ul class="tablist"> + <li><a href="files.html"><span>File List</span></a></li> + <li><a href="globals.html"><span>File Members</span></a></li> + </ul> + </div> +</div><!-- top --> +<div id="side-nav" class="ui-resizable side-nav-resizable"> + <div id="nav-tree"> + <div id="nav-tree-contents"> + </div> + </div> + <div id="splitbar" style="-moz-user-select:none;" + class="ui-resizable-handle"> + </div> +</div> +<script type="text/javascript"> +$(document).ready(function(){initNavTree('_steer_a_i_8cpp.html','');}); +</script> +<div id="doc-content"> +<!-- window showing the filter options --> +<div id="MSearchSelectWindow" + onmouseover="return searchBox.OnSearchSelectShow()" + onmouseout="return searchBox.OnSearchSelectHide()" + onkeydown="return searchBox.OnSearchSelectKey(event)"> +<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(8)"><span class="SelectionMark"> </span>Friends</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(9)"><span class="SelectionMark"> </span>Macros</a></div> + +<!-- iframe showing the search results (closed by default) --> +<div id="MSearchResultsWindow"> +<iframe src="javascript:void(0)" frameborder="0" + name="MSearchResults" id="MSearchResults"> +</iframe> +</div> + +<div class="header"> + <div class="headertitle"> +<div class="title">SteerAI.cpp</div> </div> +</div><!--header--> +<div class="contents"> +<a href="_steer_a_i_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/* Project Starshatter 4.5</span></div> +<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> Destroyer Studios LLC</span></div> +<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> Copyright © 1997-2004. All Rights Reserved.</span></div> +<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"></span></div> +<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> SUBSYSTEM: Stars.exe</span></div> +<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> FILE: SteerAI.cpp</span></div> +<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> AUTHOR: John DiCamillo</span></div> +<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"></span></div> +<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"></span></div> +<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> OVERVIEW</span></div> +<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> ========</span></div> +<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> Steering (low-level) Artificial Intelligence class</span></div> +<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">*/</span></div> +<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div> +<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "<a class="code" href="_mem_debug_8h.html">MemDebug.h</a>"</span></div> +<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include "<a class="code" href="_steer_a_i_8h.html">SteerAI.h</a>"</span></div> +<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include "<a class="code" href="_seeker_a_i_8h.html">SeekerAI.h</a>"</span></div> +<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include "<a class="code" href="_fighter_a_i_8h.html">FighterAI.h</a>"</span></div> +<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "<a class="code" href="_starship_a_i_8h.html">StarshipAI.h</a>"</span></div> +<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include "<a class="code" href="_ground_a_i_8h.html">GroundAI.h</a>"</span></div> +<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include "<a class="code" href="_system_8h.html">System.h</a>"</span></div> +<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div> +<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include "<a class="code" href="_game_8h.html">Game.h</a>"</span></div> +<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include "<a class="code" href="_physical_8h.html">Physical.h</a>"</span></div> +<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div> +<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">// +----------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> </div> +<div class="line"><a name="l00028"></a><span class="lineno"><a class="code" href="struct_steer.html#a576438904c756b032fa1eb6e56d54a1e"> 28</a></span> <a class="code" href="struct_steer.html">Steer</a> <a class="code" href="struct_steer.html#a576438904c756b032fa1eb6e56d54a1e">Steer::operator+</a>(<span class="keyword">const</span> <a class="code" href="struct_steer.html">Steer</a>& s)<span class="keyword"> const</span></div> +<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordflow">return</span> <a class="code" href="struct_steer.html#a10684c44729e1a2d1863e688f5f7f1c5">Steer</a>(<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a>+s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a>, <a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a>+s.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a>, <a class="code" href="struct_steer.html#a44d65bc6fe95a57b042459439e4c6dbb">roll</a>+s.<a class="code" href="struct_steer.html#a44d65bc6fe95a57b042459439e4c6dbb">roll</a>, (<a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>>s.<a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>)?<a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>:s.<a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>);</div> +<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> }</div> +<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> </div> +<div class="line"><a name="l00033"></a><span class="lineno"><a class="code" href="struct_steer.html#a153d93f66efb4f278f351a43835e0e5f"> 33</a></span> <a class="code" href="struct_steer.html">Steer</a> <a class="code" href="struct_steer.html#a153d93f66efb4f278f351a43835e0e5f">Steer::operator-</a>(<span class="keyword">const</span> <a class="code" href="struct_steer.html">Steer</a>& s)<span class="keyword"> const</span></div> +<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">return</span> <a class="code" href="struct_steer.html#a10684c44729e1a2d1863e688f5f7f1c5">Steer</a>(<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a>-s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a>, <a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a>-s.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a>, <a class="code" href="struct_steer.html#a44d65bc6fe95a57b042459439e4c6dbb">roll</a>-s.<a class="code" href="struct_steer.html#a44d65bc6fe95a57b042459439e4c6dbb">roll</a>, (<a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a><s.<a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>)?<a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>:s.<a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>);</div> +<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> }</div> +<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div> +<div class="line"><a name="l00038"></a><span class="lineno"><a class="code" href="struct_steer.html#af7643ae1f2b94797aa4c0e7d224fdeaa"> 38</a></span> <a class="code" href="struct_steer.html">Steer</a> <a class="code" href="struct_steer.html#af7643ae1f2b94797aa4c0e7d224fdeaa">Steer::operator*</a>(<span class="keywordtype">double</span> f)<span class="keyword"> const</span></div> +<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordflow">return</span> <a class="code" href="struct_steer.html#a10684c44729e1a2d1863e688f5f7f1c5">Steer</a>(<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a>*f, <a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a>*f, <a class="code" href="struct_steer.html#a44d65bc6fe95a57b042459439e4c6dbb">roll</a>*f, <a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>);</div> +<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> }</div> +<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div> +<div class="line"><a name="l00043"></a><span class="lineno"><a class="code" href="struct_steer.html#a23dd7de2418835908c47bbe35064e97d"> 43</a></span> <a class="code" href="struct_steer.html">Steer</a> <a class="code" href="struct_steer.html#a23dd7de2418835908c47bbe35064e97d">Steer::operator/</a>(<span class="keywordtype">double</span> f)<span class="keyword"> const</span></div> +<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keywordflow">return</span> <a class="code" href="struct_steer.html#a10684c44729e1a2d1863e688f5f7f1c5">Steer</a>(<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a>/f, <a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a>/f, <a class="code" href="struct_steer.html#a44d65bc6fe95a57b042459439e4c6dbb">roll</a>/f, <a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>);</div> +<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> }</div> +<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div> +<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> </div> +<div class="line"><a name="l00049"></a><span class="lineno"><a class="code" href="struct_steer.html#a58d574f8c64ec05a4a0b59185d548f5d"> 49</a></span> <a class="code" href="struct_steer.html">Steer</a>& <a class="code" href="struct_steer.html#a58d574f8c64ec05a4a0b59185d548f5d">Steer::operator+=</a>(<span class="keyword">const</span> <a class="code" href="struct_steer.html">Steer</a>& s)</div> +<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> {</div> +<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> += s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a>;</div> +<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> += s.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a>;</div> +<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <a class="code" href="struct_steer.html#a44d65bc6fe95a57b042459439e4c6dbb">roll</a> += s.<a class="code" href="struct_steer.html#a44d65bc6fe95a57b042459439e4c6dbb">roll</a>;</div> +<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div> +<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">if</span> (s.<a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a> > <a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>)</div> +<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a> = s.<a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>;</div> +<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div> +<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">if</span> (s.<a class="code" href="struct_steer.html#a08241748004e4a20fc77483c6d0b34f4">stop</a>)</div> +<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <a class="code" href="struct_steer.html#a08241748004e4a20fc77483c6d0b34f4">stop</a> = 1;</div> +<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div> +<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>; </div> +<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> }</div> +<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div> +<div class="line"><a name="l00064"></a><span class="lineno"><a class="code" href="struct_steer.html#acb6b5beb850d964752be81495d03565e"> 64</a></span> <a class="code" href="struct_steer.html">Steer</a>& <a class="code" href="struct_steer.html#acb6b5beb850d964752be81495d03565e">Steer::operator-=</a>(<span class="keyword">const</span> <a class="code" href="struct_steer.html">Steer</a>& s)</div> +<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> {</div> +<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> -= s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a>;</div> +<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> -= s.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a>;</div> +<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <a class="code" href="struct_steer.html#a44d65bc6fe95a57b042459439e4c6dbb">roll</a> -= s.<a class="code" href="struct_steer.html#a44d65bc6fe95a57b042459439e4c6dbb">roll</a>;</div> +<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div> +<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordflow">if</span> (s.<a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a> < <a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>)</div> +<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a> = s.<a class="code" href="struct_steer.html#a59f582361ca279f12c68528faab2f8b0">brake</a>;</div> +<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div> +<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordflow">if</span> (s.<a class="code" href="struct_steer.html#a08241748004e4a20fc77483c6d0b34f4">stop</a>)</div> +<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <a class="code" href="struct_steer.html#a08241748004e4a20fc77483c6d0b34f4">stop</a> = 1;</div> +<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div> +<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>; </div> +<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> }</div> +<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div> +<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> </div> +<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="keywordtype">double</span></div> +<div class="line"><a name="l00081"></a><span class="lineno"><a class="code" href="struct_steer.html#a754dddc54c24fd6f7166c9ff028279b3"> 81</a></span> <a class="code" href="struct_steer.html#a754dddc54c24fd6f7166c9ff028279b3">Steer::Magnitude</a>()<span class="keyword"> const</span></div> +<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordflow">return</span> sqrt(<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a>*<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> + <a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a>*<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a>);</div> +<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> }</div> +<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> </div> +<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div> +<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <a class="code" href="class_director.html">Director</a>*</div> +<div class="line"><a name="l00089"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#aed3f6a34a1a5e47f37fde0fb294337b0"> 89</a></span> <a class="code" href="class_steer_a_i.html#aed3f6a34a1a5e47f37fde0fb294337b0">SteerAI::Create</a>(<a class="code" href="class_sim_object.html">SimObject</a>* <span class="keyword">self</span>, <span class="keywordtype">int</span> type)</div> +<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> {</div> +<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordflow">switch</span> (type) {</div> +<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">case</span> <a class="code" href="class_steer_a_i.html#ab5f1818dcf2918bd33744c178eae1ba2aa3f292fcd0565714850051a709863086">SEEKER</a>: <span class="keywordflow">return</span> <span class="keyword">new</span>(__FILE__,__LINE__) <a class="code" href="class_seeker_a_i.html">SeekerAI</a>(<span class="keyword">self</span>);</div> +<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div> +<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">case</span> <a class="code" href="class_steer_a_i.html#ab5f1818dcf2918bd33744c178eae1ba2a325bae88d0efc9d3f17b8aadd1b796c8">STARSHIP</a>: <span class="keywordflow">return</span> <span class="keyword">new</span>(__FILE__,__LINE__) <a class="code" href="class_starship_a_i.html">StarshipAI</a>(<span class="keyword">self</span>);</div> +<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> </div> +<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordflow">case</span> <a class="code" href="class_steer_a_i.html#ab5f1818dcf2918bd33744c178eae1ba2abf1a60535ad0067d16d264dc7836b85f">GROUND</a>: <span class="keywordflow">return</span> <span class="keyword">new</span>(__FILE__,__LINE__) <a class="code" href="class_ground_a_i.html">GroundAI</a>(<span class="keyword">self</span>);</div> +<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div> +<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">default</span>:</div> +<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">case</span> <a class="code" href="class_steer_a_i.html#ab5f1818dcf2918bd33744c178eae1ba2a539777f4b4f891e03431119a3641613c">FIGHTER</a>: <span class="keywordflow">return</span> <span class="keyword">new</span>(__FILE__,__LINE__) <a class="code" href="class_fighter_a_i.html">FighterAI</a>(<span class="keyword">self</span>);</div> +<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  }</div> +<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> }</div> +<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> </div> +<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment">// +----------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div> +<div class="line"><a name="l00109"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#abb4e9a0f0351fbd8a922ac7944816aa6"> 109</a></span> <a class="code" href="class_steer_a_i.html#abb4e9a0f0351fbd8a922ac7944816aa6">SteerAI::SteerAI</a>(<a class="code" href="class_sim_object.html">SimObject</a>* ship)</div> +<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> : self(ship),</div> +<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> target(0), subtarget(0), other(0), distance(0.0), evade_time(0),</div> +<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> objective(0.0f, 0.0f, 0.0f)</div> +<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> {</div> +<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="class_steer_a_i.html#a89230b18769aa51fda789388ef38c347">seek_gain</a> = 20;</div> +<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <a class="code" href="class_steer_a_i.html#a6cb67fbb18f4be940fcc3930b9f5c90b">seek_damp</a> = 0.5;</div> +<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> </div> +<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < 3; i++)</div> +<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a>[i] = <a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a>[i] = 0;</div> +<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> }</div> +<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div> +<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> </div> +<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> </div> +<div class="line"><a name="l00124"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a59cea34b13d1e46da8c641545d08dcb9"> 124</a></span> <a class="code" href="class_steer_a_i.html#a59cea34b13d1e46da8c641545d08dcb9">SteerAI::~SteerAI</a>()</div> +<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> { }</div> +<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> </div> +<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div> +<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">void</span></div> +<div class="line"><a name="l00130"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a03059ec411bde689e6fcf911fe563619"> 130</a></span> <a class="code" href="class_steer_a_i.html#a03059ec411bde689e6fcf911fe563619">SteerAI::SetTarget</a>(<a class="code" href="class_sim_object.html">SimObject</a>* targ, <a class="code" href="class_system.html">System</a>* sub)</div> +<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> {</div> +<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordflow">if</span> (<a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a> != targ) {</div> +<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a> = targ;</div> +<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  </div> +<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">if</span> (<a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a>)</div> +<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <a class="code" href="class_sim_observer.html#ae6c9a20e4fd0bcb3590f983a391dd451">Observe</a>(<a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a>);</div> +<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  }</div> +<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div> +<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <a class="code" href="class_steer_a_i.html#ae9952003edfbe41039e6bbeb29a3c464">subtarget</a> = sub;</div> +<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> }</div> +<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> </div> +<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="keywordtype">void</span></div> +<div class="line"><a name="l00143"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a0488e32b12164217dc6bc23964537d23"> 143</a></span> <a class="code" href="class_steer_a_i.html#a0488e32b12164217dc6bc23964537d23">SteerAI::DropTarget</a>(<span class="keywordtype">double</span> dtime)</div> +<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> {</div> +<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <a class="code" href="class_steer_a_i.html#a03059ec411bde689e6fcf911fe563619">SetTarget</a>(0);</div> +<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> }</div> +<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> </div> +<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div> +<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> <span class="keywordtype">bool</span></div> +<div class="line"><a name="l00151"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a07f4afcbaf72909803fad23675a7a65f"> 151</a></span> <a class="code" href="class_steer_a_i.html#a07f4afcbaf72909803fad23675a7a65f">SteerAI::Update</a>(<a class="code" href="class_sim_object.html">SimObject</a>* obj)</div> +<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> {</div> +<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">if</span> (obj == <a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a>) {</div> +<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a> = 0;</div> +<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <a class="code" href="class_steer_a_i.html#ae9952003edfbe41039e6bbeb29a3c464">subtarget</a> = 0;</div> +<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  }</div> +<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> </div> +<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordflow">if</span> (obj == <a class="code" href="class_steer_a_i.html#a3bd62300d5cd6ac279c7c49c81c61361">other</a>) {</div> +<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <a class="code" href="class_steer_a_i.html#a3bd62300d5cd6ac279c7c49c81c61361">other</a> = 0;</div> +<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  }</div> +<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> </div> +<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordflow">return</span> <a class="code" href="class_steer_a_i.html#a07f4afcbaf72909803fad23675a7a65f">SimObserver::Update</a>(obj);</div> +<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> }</div> +<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div> +<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="keyword">const</span> <span class="keywordtype">char</span>*</div> +<div class="line"><a name="l00166"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a4c714172fe9e02e4b9da3c6990902056"> 166</a></span> <a class="code" href="class_steer_a_i.html#a4c714172fe9e02e4b9da3c6990902056">SteerAI::GetObserverName</a>()<span class="keyword"> const</span></div> +<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> <span class="keyword"></span>{</div> +<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keyword">static</span> <span class="keywordtype">char</span> <a class="code" href="class_star_system.html#a9ac6c7afcbf749c92e9753f293e227b7">name</a>[64];</div> +<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  sprintf_s(name, <span class="stringliteral">"SteerAI(%s)"</span>, <a class="code" href="class_steer_a_i.html#a2076de4f560aee92ab1a9b2360058cce">self</a>-><a class="code" href="class_physical.html#a805a89f8e93e2e66452b5cb6ab0c5f6b">Name</a>());</div> +<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordflow">return</span> <a class="code" href="class_star_system.html#a9ac6c7afcbf749c92e9753f293e227b7">name</a>;</div> +<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> }</div> +<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> </div> +<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> </div> +<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> <a class="code" href="struct_point.html">Point</a></div> +<div class="line"><a name="l00176"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a4d28b04b0ff914da64ac29b6b26d62fe"> 176</a></span> <a class="code" href="class_steer_a_i.html#a4d28b04b0ff914da64ac29b6b26d62fe">SteerAI::ClosingVelocity</a>()</div> +<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> {</div> +<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">if</span> (<span class="keyword">self</span>) {</div> +<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordflow">if</span> (<a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a>)</div> +<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->Velocity() - <a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a>-><a class="code" href="class_physical.html#a60c5e5f05f780f8accae363e9748131c">Velocity</a>();</div> +<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordflow">else</span></div> +<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->Velocity();</div> +<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  }</div> +<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> </div> +<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keywordflow">return</span> <a class="code" href="struct_point.html">Point</a>(1, 0, 0);</div> +<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> }</div> +<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div> +<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="keywordtype">void</span></div> +<div class="line"><a name="l00189"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#af98f3055e1d28dbdcb92f07877fff612"> 189</a></span> <a class="code" href="class_steer_a_i.html#af98f3055e1d28dbdcb92f07877fff612">SteerAI::FindObjective</a>()</div> +<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> {</div> +<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">if</span> (!<span class="keyword">self</span> || !<a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a>) <span class="keywordflow">return</span>;</div> +<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> </div> +<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <a class="code" href="struct_point.html">Point</a> cv = <a class="code" href="class_steer_a_i.html#a4d28b04b0ff914da64ac29b6b26d62fe">ClosingVelocity</a>();</div> +<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordtype">double</span> cvl = cv.<a class="code" href="struct_point.html#a8ebcce847b8c214b7351904ce60f5518">length</a>();</div> +<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordtype">double</span> time = 0;</div> +<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> </div> +<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keywordflow">if</span> (cvl > 5) {</div> +<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="comment">// distance from self to target:</span></div> +<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <a class="code" href="class_steer_a_i.html#a1e534eff7a7002a9d29ae024f37549db">distance</a> = <a class="code" href="struct_point.html">Point</a>(<a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a>-><a class="code" href="class_physical.html#a18d7b806f29edde8af178ae9a6d0ad90">Location</a>() - <span class="keyword">self</span>->Location()).length();</div> +<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> </div> +<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="comment">// time to reach target:</span></div> +<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  time = <a class="code" href="class_steer_a_i.html#a1e534eff7a7002a9d29ae024f37549db">distance</a> / cvl;</div> +<div class="line"><a name="l00203"></a><span class="lineno"> 203</span> </div> +<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="comment">// where the target will be when we reach it:</span></div> +<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <a class="code" href="struct_point.html">Point</a> run_vec = <a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a>-><a class="code" href="class_physical.html#a60c5e5f05f780f8accae363e9748131c">Velocity</a>();</div> +<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <a class="code" href="class_steer_a_i.html#ae320c18387aee233e6e1f491672ce325">obj_w</a> = <a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a>-><a class="code" href="class_physical.html#a18d7b806f29edde8af178ae9a6d0ad90">Location</a>() + (run_vec * time);</div> +<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  }</div> +<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> </div> +<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <a class="code" href="class_steer_a_i.html#ae320c18387aee233e6e1f491672ce325">obj_w</a> = <a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a>-><a class="code" href="class_physical.html#a18d7b806f29edde8af178ae9a6d0ad90">Location</a>();</div> +<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  }</div> +<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> </div> +<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="comment">// subsystem offset:</span></div> +<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordflow">if</span> (<a class="code" href="class_steer_a_i.html#ae9952003edfbe41039e6bbeb29a3c464">subtarget</a>) {</div> +<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <a class="code" href="struct_point.html">Point</a> offset = <a class="code" href="class_steer_a_i.html#ac4f793f00cc83da25667915a3c014aa0">target</a>-><a class="code" href="class_physical.html#a18d7b806f29edde8af178ae9a6d0ad90">Location</a>() - <a class="code" href="class_steer_a_i.html#ae9952003edfbe41039e6bbeb29a3c464">subtarget</a>-><a class="code" href="class_system.html#a49fc8091a7770e9b59b80157f49cfd02">MountLocation</a>();</div> +<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <a class="code" href="class_steer_a_i.html#ae320c18387aee233e6e1f491672ce325">obj_w</a> -= offset;</div> +<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  }</div> +<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> </div> +<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <a class="code" href="class_steer_a_i.html#a1e534eff7a7002a9d29ae024f37549db">distance</a> = <a class="code" href="struct_point.html">Point</a>(<a class="code" href="class_steer_a_i.html#ae320c18387aee233e6e1f491672ce325">obj_w</a> - <a class="code" href="class_steer_a_i.html#a2076de4f560aee92ab1a9b2360058cce">self</a>-><a class="code" href="class_physical.html#a18d7b806f29edde8af178ae9a6d0ad90">Location</a>()).length();</div> +<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> </div> +<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordflow">if</span> (cvl > 5)</div> +<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  time = <a class="code" href="class_steer_a_i.html#a1e534eff7a7002a9d29ae024f37549db">distance</a> / cvl;</div> +<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> </div> +<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="comment">// where we will be when the target gets there:</span></div> +<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <a class="code" href="struct_point.html">Point</a> self_dest = <span class="keyword">self</span>->Location() + cv * time;</div> +<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="struct_point.html">Point</a> <a class="code" href="_archive_8cpp.html#a6ce68847c12434f60d1b2654a3dc3409">err</a> = <a class="code" href="class_steer_a_i.html#ae320c18387aee233e6e1f491672ce325">obj_w</a> - self_dest;</div> +<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> </div> +<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <a class="code" href="class_steer_a_i.html#ae320c18387aee233e6e1f491672ce325">obj_w</a> += <a class="code" href="_archive_8cpp.html#a6ce68847c12434f60d1b2654a3dc3409">err</a>;</div> +<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> </div> +<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="comment">// transform into camera coords:</span></div> +<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <a class="code" href="class_steer_a_i.html#a69c6122f22eaea2b8359eeb45ce124b3">objective</a> = <a class="code" href="class_steer_a_i.html#a3185828caf7a2a31e3090c6c2dfdb6df">Transform</a>(<a class="code" href="class_steer_a_i.html#ae320c18387aee233e6e1f491672ce325">obj_w</a>);</div> +<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <a class="code" href="class_steer_a_i.html#a69c6122f22eaea2b8359eeb45ce124b3">objective</a>.<a class="code" href="struct_point.html#a6efd403e2a6c0aa686e278d244d5e525">Normalize</a>();</div> +<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> </div> +<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <a class="code" href="class_steer_a_i.html#a1e534eff7a7002a9d29ae024f37549db">distance</a> = <a class="code" href="struct_point.html">Point</a>(<a class="code" href="class_steer_a_i.html#ae320c18387aee233e6e1f491672ce325">obj_w</a> - <a class="code" href="class_steer_a_i.html#a2076de4f560aee92ab1a9b2360058cce">self</a>-><a class="code" href="class_physical.html#a18d7b806f29edde8af178ae9a6d0ad90">Location</a>()).length();</div> +<div class="line"><a name="l00235"></a><span class="lineno"> 235</span> }</div> +<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> </div> +<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> <a class="code" href="struct_point.html">Point</a></div> +<div class="line"><a name="l00238"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a3185828caf7a2a31e3090c6c2dfdb6df"> 238</a></span> <a class="code" href="class_steer_a_i.html#a3185828caf7a2a31e3090c6c2dfdb6df">SteerAI::Transform</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& pt)</div> +<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> {</div> +<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <a class="code" href="struct_point.html">Point</a> obj_t = pt - <span class="keyword">self</span>->Location();</div> +<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <a class="code" href="struct_point.html">Point</a> result;</div> +<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> </div> +<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordflow">if</span> (<a class="code" href="class_steer_a_i.html#a2076de4f560aee92ab1a9b2360058cce">self</a>-><a class="code" href="class_physical.html#a84bdec78881ec165e6092a93a1b93820">FlightPathYawAngle</a>() != 0 || <span class="keyword">self</span>->FlightPathPitchAngle() != 0) {</div> +<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordtype">double</span> <a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a> = <span class="keyword">self</span>->FlightPathYawAngle();</div> +<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keywordtype">double</span> <a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a> = <span class="keyword">self</span>->FlightPathPitchAngle();</div> +<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> </div> +<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> MAX_ANGLE = 15*<a class="code" href="_geometry_8h.html#a530d0fdbd8b1d8b27d9dffd58969e394">DEGREES</a>;</div> +<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> MIN_ANGLE = 3*<a class="code" href="_geometry_8h.html#a530d0fdbd8b1d8b27d9dffd58969e394">DEGREES</a>;</div> +<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> </div> +<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordflow">if</span> (az > MAX_ANGLE)</div> +<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  az = MAX_ANGLE;</div> +<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (az < -MAX_ANGLE)</div> +<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  az = -MAX_ANGLE;</div> +<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (az > MIN_ANGLE)</div> +<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  az = MIN_ANGLE + (az-MIN_ANGLE)/2;</div> +<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (az < -MIN_ANGLE)</div> +<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  az = -MIN_ANGLE + (az+MIN_ANGLE)/2;</div> +<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> </div> +<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordflow">if</span> (el > MAX_ANGLE)</div> +<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  el = MAX_ANGLE;</div> +<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (el < -MAX_ANGLE)</div> +<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  el = -MAX_ANGLE;</div> +<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (el > MIN_ANGLE)</div> +<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  el = MIN_ANGLE + (el-MIN_ANGLE)/2;</div> +<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (el < -MIN_ANGLE)</div> +<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  el = -MIN_ANGLE + (el+MIN_ANGLE)/2;</div> +<div class="line"><a name="l00267"></a><span class="lineno"> 267</span> </div> +<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <a class="code" href="class_camera.html">Camera</a> cam;</div> +<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  cam.<a class="code" href="class_camera.html#a04eb689dabc8e56ec6098377d1321942">Clone</a>(<a class="code" href="class_steer_a_i.html#a2076de4f560aee92ab1a9b2360058cce">self</a>-><a class="code" href="class_physical.html#ac6be8bd79bd6622fd67d2d71f8e125af">Cam</a>());</div> +<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  cam.Yaw(az);</div> +<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  cam.Pitch(-el);</div> +<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> </div> +<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  result = <a class="code" href="struct_point.html">Point</a>(obj_t * cam.vrt(),</div> +<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  obj_t * cam.vup(),</div> +<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  obj_t * cam.vpn());</div> +<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  }</div> +<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <a class="code" href="class_camera.html">Camera</a>& cam = (<a class="code" href="class_camera.html">Camera</a>&) <a class="code" href="class_steer_a_i.html#a2076de4f560aee92ab1a9b2360058cce">self</a>-><a class="code" href="class_physical.html#ac6be8bd79bd6622fd67d2d71f8e125af">Cam</a>(); <span class="comment">// cast away const</span></div> +<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> </div> +<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  result = <a class="code" href="struct_point.html">Point</a>(obj_t * cam.<a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>(),</div> +<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  obj_t * cam.<a class="code" href="class_camera.html#a38ab2061d58da025e9c95267505686ab">vup</a>(),</div> +<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  obj_t * cam.<a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>());</div> +<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  }</div> +<div class="line"><a name="l00284"></a><span class="lineno"> 284</span> </div> +<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordflow">return</span> result;</div> +<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> }</div> +<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> </div> +<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> <a class="code" href="struct_point.html">Point</a></div> +<div class="line"><a name="l00289"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a4322a4ff9312091c157e5fd401dd301f"> 289</a></span> <a class="code" href="class_steer_a_i.html#a4322a4ff9312091c157e5fd401dd301f">SteerAI::AimTransform</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& pt)</div> +<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> {</div> +<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <a class="code" href="class_camera.html">Camera</a>& cam = (<a class="code" href="class_camera.html">Camera</a>&) <a class="code" href="class_steer_a_i.html#a2076de4f560aee92ab1a9b2360058cce">self</a>-><a class="code" href="class_physical.html#ac6be8bd79bd6622fd67d2d71f8e125af">Cam</a>(); <span class="comment">// cast away const</span></div> +<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <a class="code" href="struct_point.html">Point</a> obj_t = pt - <span class="keyword">self</span>->Location();</div> +<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> </div> +<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <a class="code" href="struct_point.html">Point</a> result = <a class="code" href="struct_point.html">Point</a>(obj_t * cam.<a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>(),</div> +<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  obj_t * cam.<a class="code" href="class_camera.html#a38ab2061d58da025e9c95267505686ab">vup</a>(),</div> +<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  obj_t * cam.<a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>());</div> +<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> </div> +<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">return</span> result;</div> +<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> }</div> +<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> </div> +<div class="line"><a name="l00301"></a><span class="lineno"> 301</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> </div> +<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="keywordtype">void</span></div> +<div class="line"><a name="l00304"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#aa74c49a8dc1da2fb48a65c239034d7ee"> 304</a></span> <a class="code" href="class_steer_a_i.html#aa74c49a8dc1da2fb48a65c239034d7ee">SteerAI::Navigator</a>()</div> +<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> {</div> +<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <a class="code" href="class_steer_a_i.html#aa4bc21a1e5fb48264859c724d4cb4fa1">accumulator</a>.<a class="code" href="struct_steer.html#ac14f093d49db58eb928e6497d031c180">Clear</a>();</div> +<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <a class="code" href="class_steer_a_i.html#a5686355b88ea2b6c9669e04ffba0599d">magnitude</a> = 0;</div> +<div class="line"><a name="l00308"></a><span class="lineno"> 308</span> }</div> +<div class="line"><a name="l00309"></a><span class="lineno"> 309</span> </div> +<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> <span class="keywordtype">int</span></div> +<div class="line"><a name="l00311"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a427e6c32c935d5e028fabc53ecd965f6"> 311</a></span> <a class="code" href="class_steer_a_i.html#a427e6c32c935d5e028fabc53ecd965f6">SteerAI::Accumulate</a>(<span class="keyword">const</span> <a class="code" href="struct_steer.html">Steer</a>& steer)</div> +<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> {</div> +<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordtype">int</span> overflow = 0;</div> +<div class="line"><a name="l00314"></a><span class="lineno"> 314</span> </div> +<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keywordtype">double</span> mag = steer.<a class="code" href="struct_steer.html#a754dddc54c24fd6f7166c9ff028279b3">Magnitude</a>();</div> +<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> </div> +<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="keywordflow">if</span> (<a class="code" href="class_steer_a_i.html#a5686355b88ea2b6c9669e04ffba0599d">magnitude</a> + mag > 1) {</div> +<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  overflow = 1;</div> +<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="keywordtype">double</span> scale = (1 - <a class="code" href="class_steer_a_i.html#a5686355b88ea2b6c9669e04ffba0599d">magnitude</a>) / mag;</div> +<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  </div> +<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <a class="code" href="class_steer_a_i.html#aa4bc21a1e5fb48264859c724d4cb4fa1">accumulator</a> += steer * scale;</div> +<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <a class="code" href="class_steer_a_i.html#a5686355b88ea2b6c9669e04ffba0599d">magnitude</a> = 1;</div> +<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  </div> +<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="keywordflow">if</span> (<a class="code" href="class_steer_a_i.html#a73ce339435c7a6dc14546a573e2e0fe1">seeking</a>) {</div> +<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a>[0] *= scale;</div> +<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a>[0] *= scale;</div> +<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <a class="code" href="class_steer_a_i.html#a73ce339435c7a6dc14546a573e2e0fe1">seeking</a> = 0;</div> +<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  }</div> +<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  }</div> +<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <a class="code" href="class_steer_a_i.html#aa4bc21a1e5fb48264859c724d4cb4fa1">accumulator</a> += steer;</div> +<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <a class="code" href="class_steer_a_i.html#a5686355b88ea2b6c9669e04ffba0599d">magnitude</a> += mag;</div> +<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  }</div> +<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> </div> +<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keywordflow">return</span> overflow;</div> +<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> }</div> +<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> </div> +<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00339"></a><span class="lineno"> 339</span> </div> +<div class="line"><a name="l00340"></a><span class="lineno"> 340</span> <a class="code" href="struct_steer.html">Steer</a></div> +<div class="line"><a name="l00341"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a3b297a2a20fddc9201304bc6661c5f43"> 341</a></span> <a class="code" href="class_steer_a_i.html#a3b297a2a20fddc9201304bc6661c5f43">SteerAI::Seek</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& point)</div> +<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> {</div> +<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <a class="code" href="struct_steer.html">Steer</a> s;</div> +<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> </div> +<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="comment">// advance memory pipeline:</span></div> +<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a>[2] = <a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a>[1]; <a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a>[1] = <a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a>[0];</div> +<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a>[2] = <a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a>[1]; <a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a>[1] = <a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a>[0];</div> +<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> </div> +<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="comment">// approach</span></div> +<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordflow">if</span> (point.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> > 0.0f) {</div> +<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a>[0] = atan2(fabs(point.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>), point.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>) * <a class="code" href="class_steer_a_i.html#a89230b18769aa51fda789388ef38c347">seek_gain</a>;</div> +<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a>[0] = atan2(fabs(point.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>), point.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>) * <a class="code" href="class_steer_a_i.html#a89230b18769aa51fda789388ef38c347">seek_gain</a>;</div> +<div class="line"><a name="l00353"></a><span class="lineno"> 353</span> </div> +<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="keywordflow">if</span> (point.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> < 0) <a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a>[0] = -<a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a>[0];</div> +<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  <span class="keywordflow">if</span> (point.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> > 0) <a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a>[0] = -<a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a>[0];</div> +<div class="line"><a name="l00356"></a><span class="lineno"> 356</span> </div> +<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = <a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a>[0] - <a class="code" href="class_steer_a_i.html#a6cb67fbb18f4be940fcc3930b9f5c90b">seek_damp</a> * (<a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a>[1] + <a class="code" href="class_steer_a_i.html#ae47f8e8ced701208e3d55069a0a9edbf">az</a>[2] * 0.5);</div> +<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  s.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = <a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a>[0] - seek_damp * (<a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a>[1] + <a class="code" href="class_steer_a_i.html#ac416b5a31ce86b522da75cc0369a7616">el</a>[2] * 0.5);</div> +<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  }</div> +<div class="line"><a name="l00360"></a><span class="lineno"> 360</span> </div> +<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="comment">// reverse</span></div> +<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keywordflow">if</span> (point.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> > 0) s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = 1.0f;</div> +<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="keywordflow">else</span> s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = -1.0f;</div> +<div class="line"><a name="l00365"></a><span class="lineno"> 365</span> </div> +<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  s.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = -point.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> * 0.5f;</div> +<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  }</div> +<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> </div> +<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <a class="code" href="class_steer_a_i.html#a73ce339435c7a6dc14546a573e2e0fe1">seeking</a> = 1;</div> +<div class="line"><a name="l00370"></a><span class="lineno"> 370</span> </div> +<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keywordflow">return</span> s;</div> +<div class="line"><a name="l00372"></a><span class="lineno"> 372</span> }</div> +<div class="line"><a name="l00373"></a><span class="lineno"> 373</span> </div> +<div class="line"><a name="l00374"></a><span class="lineno"> 374</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> </div> +<div class="line"><a name="l00376"></a><span class="lineno"> 376</span> <a class="code" href="struct_steer.html">Steer</a></div> +<div class="line"><a name="l00377"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a0270e78f9b8973113afe62c176cc60dd"> 377</a></span> <a class="code" href="class_steer_a_i.html#a0270e78f9b8973113afe62c176cc60dd">SteerAI::Flee</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& pt)</div> +<div class="line"><a name="l00378"></a><span class="lineno"> 378</span> {</div> +<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <a class="code" href="struct_steer.html">Steer</a> s;</div> +<div class="line"><a name="l00380"></a><span class="lineno"> 380</span> </div> +<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <a class="code" href="struct_point.html">Point</a> point = pt;</div> +<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  point.<a class="code" href="struct_point.html#a6efd403e2a6c0aa686e278d244d5e525">Normalize</a>();</div> +<div class="line"><a name="l00383"></a><span class="lineno"> 383</span> </div> +<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="comment">// approach</span></div> +<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="keywordflow">if</span> (point.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> > 0.0f) {</div> +<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="keywordflow">if</span> (point.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> > 0) s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = -1.0f;</div> +<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="keywordflow">else</span> s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = 1.0f;</div> +<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  }</div> +<div class="line"><a name="l00389"></a><span class="lineno"> 389</span> </div> +<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="comment">// flee</span></div> +<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = -point.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>;</div> +<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  s.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = point.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>;</div> +<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  }</div> +<div class="line"><a name="l00395"></a><span class="lineno"> 395</span> </div> +<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keywordflow">return</span> s;</div> +<div class="line"><a name="l00397"></a><span class="lineno"> 397</span> }</div> +<div class="line"><a name="l00398"></a><span class="lineno"> 398</span> </div> +<div class="line"><a name="l00399"></a><span class="lineno"> 399</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00400"></a><span class="lineno"> 400</span> </div> +<div class="line"><a name="l00401"></a><span class="lineno"> 401</span> <a class="code" href="struct_steer.html">Steer</a></div> +<div class="line"><a name="l00402"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a311ca93e8d04039a10ab21bc91b356ff"> 402</a></span> <a class="code" href="class_steer_a_i.html#a311ca93e8d04039a10ab21bc91b356ff">SteerAI::Avoid</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& point, <span class="keywordtype">float</span> <a class="code" href="class_star_system.html#aec3644324b3bde2813ccfb565020b58d">radius</a>)</div> +<div class="line"><a name="l00403"></a><span class="lineno"> 403</span> {</div> +<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  <a class="code" href="struct_steer.html">Steer</a> s;</div> +<div class="line"><a name="l00405"></a><span class="lineno"> 405</span> </div> +<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  <span class="keywordflow">if</span> (point.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> > 0) {</div> +<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <span class="keywordtype">double</span> ax = radius - fabs(point.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>);</div> +<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  <span class="keywordtype">double</span> ay = radius - fabs(point.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>);</div> +<div class="line"><a name="l00409"></a><span class="lineno"> 409</span> </div> +<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <span class="comment">// go around?</span></div> +<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  <span class="keywordflow">if</span> (ax < ay) {</div> +<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = atan2(ax, point.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>) * <a class="code" href="class_steer_a_i.html#a89230b18769aa51fda789388ef38c347">seek_gain</a>;</div> +<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  <span class="keywordflow">if</span> (point.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> > 0) s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = -s.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a>;</div> +<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  }</div> +<div class="line"><a name="l00415"></a><span class="lineno"> 415</span> </div> +<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  <span class="comment">// go over/under:</span></div> +<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  s.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = atan2(ay, point.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>) * <a class="code" href="class_steer_a_i.html#a89230b18769aa51fda789388ef38c347">seek_gain</a>;</div> +<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  <span class="keywordflow">if</span> (point.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> < 0) s.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = -s.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a>;</div> +<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  }</div> +<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  }</div> +<div class="line"><a name="l00422"></a><span class="lineno"> 422</span> </div> +<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  <span class="keywordflow">return</span> s;</div> +<div class="line"><a name="l00424"></a><span class="lineno"> 424</span> }</div> +<div class="line"><a name="l00425"></a><span class="lineno"> 425</span> </div> +<div class="line"><a name="l00426"></a><span class="lineno"> 426</span> <span class="comment">// +--------------------------------------------------------------------+</span></div> +<div class="line"><a name="l00427"></a><span class="lineno"> 427</span> </div> +<div class="line"><a name="l00428"></a><span class="lineno"> 428</span> <a class="code" href="struct_steer.html">Steer</a></div> +<div class="line"><a name="l00429"></a><span class="lineno"><a class="code" href="class_steer_a_i.html#a08ddefdabe4814ad35f22f645a8b865c"> 429</a></span> <a class="code" href="class_steer_a_i.html#a08ddefdabe4814ad35f22f645a8b865c">SteerAI::Evade</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& point, <span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& vel)</div> +<div class="line"><a name="l00430"></a><span class="lineno"> 430</span> {</div> +<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <a class="code" href="struct_steer.html">Steer</a> evade;</div> +<div class="line"><a name="l00432"></a><span class="lineno"> 432</span> </div> +<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <span class="keywordflow">if</span> (<a class="code" href="class_game.html#ac76ba05e5da1ac16b84367e513e59466">Game::GameTime</a>() - <a class="code" href="class_steer_a_i.html#adc3fbd43eb7abb07761224620318c4d6">evade_time</a> > 1250) {</div> +<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  <a class="code" href="class_steer_a_i.html#adc3fbd43eb7abb07761224620318c4d6">evade_time</a> = <a class="code" href="class_game.html#ac76ba05e5da1ac16b84367e513e59466">Game::GameTime</a>();</div> +<div class="line"><a name="l00435"></a><span class="lineno"> 435</span> </div> +<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  <span class="keywordtype">int</span> direction = (rand()>>9) & 0x07;</div> +<div class="line"><a name="l00437"></a><span class="lineno"> 437</span> </div> +<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  <span class="keywordflow">switch</span> (direction) {</div> +<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  <span class="keywordflow">default</span>:</div> +<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <span class="keywordflow">case</span> 0: evade.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = 0; evade.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = -0.5; <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  <span class="keywordflow">case</span> 1: evade.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = 0; evade.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = -1.0; <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  <span class="keywordflow">case</span> 2: evade.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = 1; evade.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = -0.3; <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  <span class="keywordflow">case</span> 3: evade.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = 1; evade.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = -0.6; <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  <span class="keywordflow">case</span> 4: evade.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = 1; evade.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = -1.0; <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  <span class="keywordflow">case</span> 5: evade.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = -1; evade.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = -0.3; <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  <span class="keywordflow">case</span> 6: evade.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = -1; evade.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = -0.6; <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <span class="keywordflow">case</span> 7: evade.<a class="code" href="struct_steer.html#a2711591762905f9f04762f01aa0b90a4">yaw</a> = -1; evade.<a class="code" href="struct_steer.html#a90b852ee5b74a81aea14e0a8a06ce3ce">pitch</a> = -1.0; <span class="keywordflow">break</span>;</div> +<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  }</div> +<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  }</div> +<div class="line"><a name="l00450"></a><span class="lineno"> 450</span> </div> +<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  <span class="keywordflow">return</span> evade;</div> +<div class="line"><a name="l00452"></a><span class="lineno"> 452</span> }</div> +<div class="line"><a name="l00453"></a><span class="lineno"> 453</span> </div> +</div><!-- fragment --></div><!-- contents --> +</div><!-- doc-content --> +<!-- start footer part --> +<div id="nav-path" class="navpath"><!-- id is needed for treeview function! --> + <ul> + <li class="navelem"><a class="el" href="dir_ea1b58c809a5070716d7c602998a95b0.html">Stars45</a></li><li class="navelem"><a class="el" href="_steer_a_i_8cpp.html">SteerAI.cpp</a></li> + <li class="footer">Generated on Thu May 31 2012 16:31:17 for Starshatter_Open by + <a href="http://www.doxygen.org/index.html"> + <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.1 </li> + </ul> +</div> +</body> +</html> |