diff options
Diffstat (limited to 'Stars45/NavAI.cpp')
| -rw-r--r-- | Stars45/NavAI.cpp | 970 |
1 files changed, 485 insertions, 485 deletions
diff --git a/Stars45/NavAI.cpp b/Stars45/NavAI.cpp index c863064..a6b53cc 100644 --- a/Stars45/NavAI.cpp +++ b/Stars45/NavAI.cpp @@ -1,15 +1,15 @@ /* Project Starshatter 5.0
- Destroyer Studios LLC
- Copyright © 1997-2007. All Rights Reserved.
+ Destroyer Studios LLC
+ Copyright © 1997-2007. All Rights Reserved.
- SUBSYSTEM: Stars.exe
- FILE: NavAI.cpp
- AUTHOR: John DiCamillo
+ SUBSYSTEM: Stars.exe
+ FILE: NavAI.cpp
+ AUTHOR: John DiCamillo
- OVERVIEW
- ========
- Automatic Navigator Artificial Intelligence class
+ OVERVIEW
+ ========
+ Automatic Navigator Artificial Intelligence class
*/
#include "MemDebug.h"
@@ -35,14 +35,14 @@ // +----------------------------------------------------------------------+
NavAI::NavAI(Ship* s)
- : ShipAI(s), complete(false), brakes(0),
- drop_state(0), quantum_state(0), farcaster(0), terrain_warning(false)
+: ShipAI(s), complete(false), brakes(0),
+drop_state(0), quantum_state(0), farcaster(0), terrain_warning(false)
{
- seek_gain = 20;
- seek_damp = 0.55;
+ seek_gain = 20;
+ seek_damp = 0.55;
- delete tactical;
- tactical = 0;
+ delete tactical;
+ tactical = 0;
}
// +--------------------------------------------------------------------+
@@ -55,104 +55,104 @@ NavAI::~NavAI() void
NavAI::ExecFrame(double s)
{
- if (!ship) return;
-
- seconds = s;
-
- ship->SetDirectorInfo(" ");
-
- if (ship->GetFlightPhase() == Ship::TAKEOFF)
- takeoff = true;
-
- else if (takeoff && ship->MissionClock() > 10000)
- takeoff = false;
-
- FindObjective();
- Navigator();
-
- // watch for disconnect:
- if (ShipCtrl::Toggled(KEY_AUTO_NAV)) {
- NavSystem* navsys = ship->GetNavSystem();
- if (navsys) {
- HUDView::GetInstance()->SetHUDMode(HUDView::HUD_MODE_TAC);
- navsys->DisengageAutoNav();
-
- Sim* sim = Sim::GetSim();
- if (sim) {
- ship->SetControls(sim->GetControls());
- return;
- }
- }
- }
-
- static double time_til_change = 0.0;
-
- if (time_til_change < 0.001) {
- if (ship->GetShield()) {
- Shield* shield = ship->GetShield();
- double level = shield->GetPowerLevel();
-
- if (ShipCtrl::KeyDown(KEY_SHIELDS_FULL)) {
- HUDSounds::PlaySound(HUDSounds::SND_SHIELD_LEVEL);
- shield->SetPowerLevel(100);
- time_til_change = 0.5f;
- }
-
- else if (ShipCtrl::KeyDown(KEY_SHIELDS_ZERO)) {
- HUDSounds::PlaySound(HUDSounds::SND_SHIELD_LEVEL);
- shield->SetPowerLevel(0);
- time_til_change = 0.5f;
- }
-
- else if (ShipCtrl::KeyDown(KEY_SHIELDS_UP)) {
- if (level < 25) level = 25;
- else if (level < 50) level = 50;
- else if (level < 75) level = 75;
- else level = 100;
-
- HUDSounds::PlaySound(HUDSounds::SND_SHIELD_LEVEL);
- shield->SetPowerLevel(level);
- time_til_change = 0.5f;
- }
-
- else if (ShipCtrl::KeyDown(KEY_SHIELDS_DOWN)) {
- if (level > 75) level = 75;
- else if (level > 50) level = 50;
- else if (level > 25) level = 25;
- else level = 0;
-
- HUDSounds::PlaySound(HUDSounds::SND_SHIELD_LEVEL);
- shield->SetPowerLevel(level);
- time_til_change = 0.5f;
- }
-
- }
- }
- else {
- time_til_change -= seconds;
- }
-
- if (ShipCtrl::Toggled(KEY_DECOY))
- ship->FireDecoy();
-
- if (ShipCtrl::Toggled(KEY_LAUNCH_PROBE))
- ship->LaunchProbe();
-
- if (ShipCtrl::Toggled(KEY_GEAR_TOGGLE))
- ship->ToggleGear();
-
- if (ShipCtrl::Toggled(KEY_NAVLIGHT_TOGGLE))
- ship->ToggleNavlights();
-
- if (drop_state < 0) {
- ship->DropOrbit();
- return;
- }
-
- if (drop_state > 0) {
- ship->MakeOrbit();
- return;
- }
+ if (!ship) return;
+
+ seconds = s;
+
+ ship->SetDirectorInfo(" ");
+
+ if (ship->GetFlightPhase() == Ship::TAKEOFF)
+ takeoff = true;
+
+ else if (takeoff && ship->MissionClock() > 10000)
+ takeoff = false;
+
+ FindObjective();
+ Navigator();
+
+ // watch for disconnect:
+ if (ShipCtrl::Toggled(KEY_AUTO_NAV)) {
+ NavSystem* navsys = ship->GetNavSystem();
+ if (navsys) {
+ HUDView::GetInstance()->SetHUDMode(HUDView::HUD_MODE_TAC);
+ navsys->DisengageAutoNav();
+
+ Sim* sim = Sim::GetSim();
+ if (sim) {
+ ship->SetControls(sim->GetControls());
+ return;
+ }
+ }
+ }
+
+ static double time_til_change = 0.0;
+
+ if (time_til_change < 0.001) {
+ if (ship->GetShield()) {
+ Shield* shield = ship->GetShield();
+ double level = shield->GetPowerLevel();
+
+ if (ShipCtrl::KeyDown(KEY_SHIELDS_FULL)) {
+ HUDSounds::PlaySound(HUDSounds::SND_SHIELD_LEVEL);
+ shield->SetPowerLevel(100);
+ time_til_change = 0.5f;
+ }
+
+ else if (ShipCtrl::KeyDown(KEY_SHIELDS_ZERO)) {
+ HUDSounds::PlaySound(HUDSounds::SND_SHIELD_LEVEL);
+ shield->SetPowerLevel(0);
+ time_til_change = 0.5f;
+ }
+
+ else if (ShipCtrl::KeyDown(KEY_SHIELDS_UP)) {
+ if (level < 25) level = 25;
+ else if (level < 50) level = 50;
+ else if (level < 75) level = 75;
+ else level = 100;
+
+ HUDSounds::PlaySound(HUDSounds::SND_SHIELD_LEVEL);
+ shield->SetPowerLevel(level);
+ time_til_change = 0.5f;
+ }
+
+ else if (ShipCtrl::KeyDown(KEY_SHIELDS_DOWN)) {
+ if (level > 75) level = 75;
+ else if (level > 50) level = 50;
+ else if (level > 25) level = 25;
+ else level = 0;
+
+ HUDSounds::PlaySound(HUDSounds::SND_SHIELD_LEVEL);
+ shield->SetPowerLevel(level);
+ time_til_change = 0.5f;
+ }
+
+ }
+ }
+ else {
+ time_til_change -= seconds;
+ }
+
+ if (ShipCtrl::Toggled(KEY_DECOY))
+ ship->FireDecoy();
+
+ if (ShipCtrl::Toggled(KEY_LAUNCH_PROBE))
+ ship->LaunchProbe();
+
+ if (ShipCtrl::Toggled(KEY_GEAR_TOGGLE))
+ ship->ToggleGear();
+
+ if (ShipCtrl::Toggled(KEY_NAVLIGHT_TOGGLE))
+ ship->ToggleNavlights();
+
+ if (drop_state < 0) {
+ ship->DropOrbit();
+ return;
+ }
+
+ if (drop_state > 0) {
+ ship->MakeOrbit();
+ return;
+ }
}
// +--------------------------------------------------------------------+
@@ -160,141 +160,141 @@ NavAI::ExecFrame(double s) void
NavAI::FindObjective()
{
- navpt = 0;
- distance = 0;
-
- // runway takeoff:
- if (takeoff) {
- obj_w = ship->Location() + ship->Heading() * 10e3;
- obj_w.y = ship->Location().y + 2e3;
-
- // transform into camera coords:
- objective = Transform(obj_w);
- ship->SetDirectorInfo(Game::GetText("ai.takeoff"));
- return;
- }
-
- // PART I: Find next NavPoint:
- if (ship->GetNavSystem())
- navpt = ship->GetNextNavPoint();
-
- complete = !navpt;
- if (complete) return;
-
- // PART II: Compute Objective from NavPoint:
- Point npt = navpt->Location();
- Sim* sim = Sim::GetSim();
- SimRegion* self_rgn = ship->GetRegion();
- SimRegion* nav_rgn = navpt->Region();
-
- if (self_rgn && !nav_rgn) {
- nav_rgn = self_rgn;
- navpt->SetRegion(nav_rgn);
- }
-
- if (self_rgn == nav_rgn) {
- if (farcaster) {
- if (farcaster->GetShip()->GetRegion() != self_rgn)
- farcaster = farcaster->GetDest()->GetFarcaster();
-
- obj_w = farcaster->EndPoint();
- }
-
- else {
- obj_w = npt.OtherHand();
- }
-
- // distance from self to navpt:
- distance = Point(obj_w - self->Location()).length();
-
- // transform into camera coords:
- objective = Transform(obj_w);
-
- if (!ship->IsStarship())
- objective.Normalize();
-
- if (farcaster && distance < 1000)
- farcaster = 0;
- }
-
- // PART III: Deal with orbital transitions:
- else if (ship->IsDropship()) {
- if (nav_rgn->GetOrbitalRegion()->Primary() ==
- self_rgn->GetOrbitalRegion()->Primary()) {
-
- Point npt = nav_rgn->Location() - self_rgn->Location();
- obj_w = npt.OtherHand();
-
- // distance from self to navpt:
- distance = Point(obj_w - ship->Location()).length();
-
- // transform into camera coords:
- objective = Transform(obj_w);
-
- if (nav_rgn->IsAirSpace()) {
- drop_state = -1;
- }
- else if (nav_rgn->IsOrbital()) {
- drop_state = 1;
- }
- }
-
- // PART IIIa: Deal with farcaster jumps:
- else if (nav_rgn->IsOrbital() && self_rgn->IsOrbital()) {
- ListIter<Ship> s = self_rgn->Ships();
- while (++s && !farcaster) {
- if (s->GetFarcaster()) {
- const Ship* dest = s->GetFarcaster()->GetDest();
- if (dest && dest->GetRegion() == nav_rgn) {
- farcaster = s->GetFarcaster();
- }
- }
- }
-
- if (farcaster) {
- Point apt = farcaster->ApproachPoint(0);
- Point npt = farcaster->StartPoint();
- double r1 = (ship->Location() - npt).length();
-
- if (r1 > 50e3) {
- obj_w = apt;
- distance = r1;
- objective = Transform(obj_w);
- }
-
- else {
- double r2 = (ship->Location() - apt).length();
- double r3 = (npt - apt).length();
-
- if (r1+r2 < 1.2*r3) {
- obj_w = npt;
- distance = r1;
- objective = Transform(obj_w);
- }
- else {
- obj_w = apt;
- distance = r2;
- objective = Transform(obj_w);
- }
- }
- }
- }
- }
-
- // PART IV: Deal with quantum jumps:
- else if (ship->IsStarship()) {
- quantum_state = 1;
-
- Point npt = nav_rgn->Location() + navpt->Location();
- npt -= self_rgn->Location();
- obj_w = npt.OtherHand();
-
- // distance from self to navpt:
- distance = Point(obj_w - ship->Location()).length();
-
- // transform into camera coords:
- objective = Transform(obj_w);
- }
+ navpt = 0;
+ distance = 0;
+
+ // runway takeoff:
+ if (takeoff) {
+ obj_w = ship->Location() + ship->Heading() * 10e3;
+ obj_w.y = ship->Location().y + 2e3;
+
+ // transform into camera coords:
+ objective = Transform(obj_w);
+ ship->SetDirectorInfo(Game::GetText("ai.takeoff"));
+ return;
+ }
+
+ // PART I: Find next NavPoint:
+ if (ship->GetNavSystem())
+ navpt = ship->GetNextNavPoint();
+
+ complete = !navpt;
+ if (complete) return;
+
+ // PART II: Compute Objective from NavPoint:
+ Point npt = navpt->Location();
+ Sim* sim = Sim::GetSim();
+ SimRegion* self_rgn = ship->GetRegion();
+ SimRegion* nav_rgn = navpt->Region();
+
+ if (self_rgn && !nav_rgn) {
+ nav_rgn = self_rgn;
+ navpt->SetRegion(nav_rgn);
+ }
+
+ if (self_rgn == nav_rgn) {
+ if (farcaster) {
+ if (farcaster->GetShip()->GetRegion() != self_rgn)
+ farcaster = farcaster->GetDest()->GetFarcaster();
+
+ obj_w = farcaster->EndPoint();
+ }
+
+ else {
+ obj_w = npt.OtherHand();
+ }
+
+ // distance from self to navpt:
+ distance = Point(obj_w - self->Location()).length();
+
+ // transform into camera coords:
+ objective = Transform(obj_w);
+
+ if (!ship->IsStarship())
+ objective.Normalize();
+
+ if (farcaster && distance < 1000)
+ farcaster = 0;
+ }
+
+ // PART III: Deal with orbital transitions:
+ else if (ship->IsDropship()) {
+ if (nav_rgn->GetOrbitalRegion()->Primary() ==
+ self_rgn->GetOrbitalRegion()->Primary()) {
+
+ Point npt = nav_rgn->Location() - self_rgn->Location();
+ obj_w = npt.OtherHand();
+
+ // distance from self to navpt:
+ distance = Point(obj_w - ship->Location()).length();
+
+ // transform into camera coords:
+ objective = Transform(obj_w);
+
+ if (nav_rgn->IsAirSpace()) {
+ drop_state = -1;
+ }
+ else if (nav_rgn->IsOrbital()) {
+ drop_state = 1;
+ }
+ }
+
+ // PART IIIa: Deal with farcaster jumps:
+ else if (nav_rgn->IsOrbital() && self_rgn->IsOrbital()) {
+ ListIter<Ship> s = self_rgn->Ships();
+ while (++s && !farcaster) {
+ if (s->GetFarcaster()) {
+ const Ship* dest = s->GetFarcaster()->GetDest();
+ if (dest && dest->GetRegion() == nav_rgn) {
+ farcaster = s->GetFarcaster();
+ }
+ }
+ }
+
+ if (farcaster) {
+ Point apt = farcaster->ApproachPoint(0);
+ Point npt = farcaster->StartPoint();
+ double r1 = (ship->Location() - npt).length();
+
+ if (r1 > 50e3) {
+ obj_w = apt;
+ distance = r1;
+ objective = Transform(obj_w);
+ }
+
+ else {
+ double r2 = (ship->Location() - apt).length();
+ double r3 = (npt - apt).length();
+
+ if (r1+r2 < 1.2*r3) {
+ obj_w = npt;
+ distance = r1;
+ objective = Transform(obj_w);
+ }
+ else {
+ obj_w = apt;
+ distance = r2;
+ objective = Transform(obj_w);
+ }
+ }
+ }
+ }
+ }
+
+ // PART IV: Deal with quantum jumps:
+ else if (ship->IsStarship()) {
+ quantum_state = 1;
+
+ Point npt = nav_rgn->Location() + navpt->Location();
+ npt -= self_rgn->Location();
+ obj_w = npt.OtherHand();
+
+ // distance from self to navpt:
+ distance = Point(obj_w - ship->Location()).length();
+
+ // transform into camera coords:
+ objective = Transform(obj_w);
+ }
}
// +--------------------------------------------------------------------+
@@ -302,32 +302,32 @@ NavAI::FindObjective() void
NavAI::Navigator()
{
- accumulator.Clear();
- magnitude = 0;
- brakes = 0;
- hold = false;
-
- if (navpt) {
- if (navpt->Status() == Instruction::COMPLETE && navpt->HoldTime() > 0) {
- ship->SetDirectorInfo(Game::GetText("ai.auto-hold"));
- hold = true;
- }
- else {
- ship->SetDirectorInfo(Game::GetText("ai.auto-nav"));
- }
- }
- else {
- ship->SetDirectorInfo(Game::GetText("ai.auto-stop"));
- }
-
- Accumulate(AvoidTerrain());
- Accumulate(AvoidCollision());
-
- if (!hold)
- accumulator = SeekTarget();
-
- HelmControl();
- ThrottleControl();
+ accumulator.Clear();
+ magnitude = 0;
+ brakes = 0;
+ hold = false;
+
+ if (navpt) {
+ if (navpt->Status() == Instruction::COMPLETE && navpt->HoldTime() > 0) {
+ ship->SetDirectorInfo(Game::GetText("ai.auto-hold"));
+ hold = true;
+ }
+ else {
+ ship->SetDirectorInfo(Game::GetText("ai.auto-nav"));
+ }
+ }
+ else {
+ ship->SetDirectorInfo(Game::GetText("ai.auto-stop"));
+ }
+
+ Accumulate(AvoidTerrain());
+ Accumulate(AvoidCollision());
+
+ if (!hold)
+ accumulator = SeekTarget();
+
+ HelmControl();
+ ThrottleControl();
}
// +--------------------------------------------------------------------+
@@ -335,64 +335,64 @@ NavAI::Navigator() void
NavAI::HelmControl()
{
- // ----------------------------------------------------------
- // STARSHIP HELM MODE
- // ----------------------------------------------------------
-
- if (ship->IsStarship()) {
- ship->SetFLCSMode(Ship::FLCS_HELM);
- ship->SetHelmHeading(accumulator.yaw);
-
- if (accumulator.pitch > 45*DEGREES)
- ship->SetHelmPitch(45*DEGREES);
-
- else if (accumulator.pitch < -45*DEGREES)
- ship->SetHelmPitch(-45*DEGREES);
-
- else
- ship->SetHelmPitch(accumulator.pitch);
- }
-
- // ----------------------------------------------------------
- // FIGHTER FLCS AUTO MODE
- // ----------------------------------------------------------
-
- else {
- ship->SetFLCSMode(Ship::FLCS_AUTO);
-
- // are we being asked to flee?
- if (fabs(accumulator.yaw) == 1.0 && accumulator.pitch == 0.0) {
- accumulator.pitch = -0.7f;
- accumulator.yaw *= 0.25f;
- }
-
- self->ApplyRoll((float) (accumulator.yaw * -0.4));
- self->ApplyYaw((float) (accumulator.yaw * 0.2));
-
- if (fabs(accumulator.yaw) > 0.5 && fabs(accumulator.pitch) < 0.1)
- accumulator.pitch -= 0.1f;
-
- if (accumulator.pitch != 0)
- self->ApplyPitch((float) accumulator.pitch);
-
- // if not turning, roll to orient with world coords:
- if (fabs(accumulator.yaw) < 0.1) {
- Point vrt = ((Camera*) &(self->Cam()))->vrt();
- double deflection = vrt.y;
- if (deflection != 0) {
- double theta = asin(deflection/vrt.length());
- self->ApplyRoll(-theta);
- }
- }
-
- if (!ship->IsAirborne() || ship->AltitudeAGL() > 100)
- ship->RaiseGear();
- }
-
- ship->SetTransX(0);
- ship->SetTransY(0);
- ship->SetTransZ(0);
- ship->ExecFLCSFrame();
+ // ----------------------------------------------------------
+ // STARSHIP HELM MODE
+ // ----------------------------------------------------------
+
+ if (ship->IsStarship()) {
+ ship->SetFLCSMode(Ship::FLCS_HELM);
+ ship->SetHelmHeading(accumulator.yaw);
+
+ if (accumulator.pitch > 45*DEGREES)
+ ship->SetHelmPitch(45*DEGREES);
+
+ else if (accumulator.pitch < -45*DEGREES)
+ ship->SetHelmPitch(-45*DEGREES);
+
+ else
+ ship->SetHelmPitch(accumulator.pitch);
+ }
+
+ // ----------------------------------------------------------
+ // FIGHTER FLCS AUTO MODE
+ // ----------------------------------------------------------
+
+ else {
+ ship->SetFLCSMode(Ship::FLCS_AUTO);
+
+ // are we being asked to flee?
+ if (fabs(accumulator.yaw) == 1.0 && accumulator.pitch == 0.0) {
+ accumulator.pitch = -0.7f;
+ accumulator.yaw *= 0.25f;
+ }
+
+ self->ApplyRoll((float) (accumulator.yaw * -0.4));
+ self->ApplyYaw((float) (accumulator.yaw * 0.2));
+
+ if (fabs(accumulator.yaw) > 0.5 && fabs(accumulator.pitch) < 0.1)
+ accumulator.pitch -= 0.1f;
+
+ if (accumulator.pitch != 0)
+ self->ApplyPitch((float) accumulator.pitch);
+
+ // if not turning, roll to orient with world coords:
+ if (fabs(accumulator.yaw) < 0.1) {
+ Point vrt = ((Camera*) &(self->Cam()))->vrt();
+ double deflection = vrt.y;
+ if (deflection != 0) {
+ double theta = asin(deflection/vrt.length());
+ self->ApplyRoll(-theta);
+ }
+ }
+
+ if (!ship->IsAirborne() || ship->AltitudeAGL() > 100)
+ ship->RaiseGear();
+ }
+
+ ship->SetTransX(0);
+ ship->SetTransY(0);
+ ship->SetTransZ(0);
+ ship->ExecFLCSFrame();
}
// +--------------------------------------------------------------------+
@@ -400,66 +400,66 @@ NavAI::HelmControl() void
NavAI::ThrottleControl()
{
- double ship_speed = ship->Velocity() * ship->Heading();
- bool augmenter = false;
-
- if (hold) {
- throttle = 0;
- brakes = 1;
- }
-
- else if (navpt) {
- double speed = navpt->Speed();
-
- if (speed < 10)
- speed = 250;
-
- throttle = 0;
-
- if (Ship::GetFlightModel() > 0) {
- if (ship_speed > speed + 10)
- throttle = old_throttle - 0.25;
-
- else if (ship_speed < speed - 10)
- throttle = old_throttle + 0.25;
-
- else
- throttle = old_throttle;
- }
-
- else {
- if (ship_speed > speed+5)
- brakes = 0.25;
-
- else if (ship_speed < speed-5)
- throttle = 50;
- }
- }
- else {
- throttle = 0;
- brakes = 0.25;
- }
-
- if (ship->IsAirborne() && ship->Class() < Ship::LCA) {
- if (ship_speed < 250) {
- throttle = 100;
- brakes = 0;
-
- if (ship_speed < 200)
- augmenter = true;
- }
-
- else if (throttle < 20) {
- throttle = 20;
- }
- }
-
- old_throttle = throttle;
- ship->SetThrottle(throttle);
- ship->SetAugmenter(augmenter);
-
- if (ship_speed > 1 && brakes > 0)
- ship->SetTransY(-brakes * ship->Design()->trans_y);
+ double ship_speed = ship->Velocity() * ship->Heading();
+ bool augmenter = false;
+
+ if (hold) {
+ throttle = 0;
+ brakes = 1;
+ }
+
+ else if (navpt) {
+ double speed = navpt->Speed();
+
+ if (speed < 10)
+ speed = 250;
+
+ throttle = 0;
+
+ if (Ship::GetFlightModel() > 0) {
+ if (ship_speed > speed + 10)
+ throttle = old_throttle - 0.25;
+
+ else if (ship_speed < speed - 10)
+ throttle = old_throttle + 0.25;
+
+ else
+ throttle = old_throttle;
+ }
+
+ else {
+ if (ship_speed > speed+5)
+ brakes = 0.25;
+
+ else if (ship_speed < speed-5)
+ throttle = 50;
+ }
+ }
+ else {
+ throttle = 0;
+ brakes = 0.25;
+ }
+
+ if (ship->IsAirborne() && ship->Class() < Ship::LCA) {
+ if (ship_speed < 250) {
+ throttle = 100;
+ brakes = 0;
+
+ if (ship_speed < 200)
+ augmenter = true;
+ }
+
+ else if (throttle < 20) {
+ throttle = 20;
+ }
+ }
+
+ old_throttle = throttle;
+ ship->SetThrottle(throttle);
+ ship->SetAugmenter(augmenter);
+
+ if (ship_speed > 1 && brakes > 0)
+ ship->SetTransY(-brakes * ship->Design()->trans_y);
}
// +--------------------------------------------------------------------+
@@ -467,39 +467,39 @@ NavAI::ThrottleControl() Steer
NavAI::SeekTarget()
{
- if (!ship)
- return Steer();
-
- if (takeoff)
- return Seek(objective);
-
- if (navpt) {
- if (quantum_state == 1) {
- QuantumDrive* q = ship->GetQuantumDrive();
-
- if (q) {
- if (q->ActiveState() == QuantumDrive::ACTIVE_READY) {
- q->SetDestination(navpt->Region(), navpt->Location());
- q->Engage();
- }
-
- else if (q->ActiveState() == QuantumDrive::ACTIVE_POSTWARP) {
- quantum_state = 0;
- }
- }
- }
-
- if (distance < 2 * self->Radius()) {
- ship->SetNavptStatus(navpt, Instruction::COMPLETE);
-
- return Steer();
- }
- else {
- return Seek(objective);
- }
- }
-
- return Steer();
+ if (!ship)
+ return Steer();
+
+ if (takeoff)
+ return Seek(objective);
+
+ if (navpt) {
+ if (quantum_state == 1) {
+ QuantumDrive* q = ship->GetQuantumDrive();
+
+ if (q) {
+ if (q->ActiveState() == QuantumDrive::ACTIVE_READY) {
+ q->SetDestination(navpt->Region(), navpt->Location());
+ q->Engage();
+ }
+
+ else if (q->ActiveState() == QuantumDrive::ACTIVE_POSTWARP) {
+ quantum_state = 0;
+ }
+ }
+ }
+
+ if (distance < 2 * self->Radius()) {
+ ship->SetNavptStatus(navpt, Instruction::COMPLETE);
+
+ return Steer();
+ }
+ else {
+ return Seek(objective);
+ }
+ }
+
+ return Steer();
}
// +--------------------------------------------------------------------+
@@ -507,7 +507,7 @@ NavAI::SeekTarget() void
NavAI::Disengage()
{
- throttle = 0;
+ throttle = 0;
}
// +--------------------------------------------------------------------+
@@ -515,69 +515,69 @@ NavAI::Disengage() Point
NavAI::Transform(const Point& point)
{
- if (ship && ship->IsStarship())
- return point - self->Location();
+ if (ship && ship->IsStarship())
+ return point - self->Location();
- return SteerAI::Transform(point);
+ return SteerAI::Transform(point);
}
Steer
NavAI::Seek(const Point& point)
{
- // if ship is starship, the point is in relative world coordinates
- // x: distance east(-) / west(+)
- // y: altitude down(-) / up(+)
- // z: distance north(-) / south(+)
+ // if ship is starship, the point is in relative world coordinates
+ // x: distance east(-) / west(+)
+ // y: altitude down(-) / up(+)
+ // z: distance north(-) / south(+)
- if (ship && ship->IsStarship()) {
- Steer result;
+ if (ship && ship->IsStarship()) {
+ Steer result;
- result.yaw = atan2(point.x, point.z) + PI;
+ result.yaw = atan2(point.x, point.z) + PI;
- double adjacent = sqrt(point.x * point.x + point.z * point.z);
- if (fabs(point.y) > ship->Radius() && adjacent > ship->Radius())
- result.pitch = atan(point.y / adjacent);
+ double adjacent = sqrt(point.x * point.x + point.z * point.z);
+ if (fabs(point.y) > ship->Radius() && adjacent > ship->Radius())
+ result.pitch = atan(point.y / adjacent);
- if (_isnan(result.yaw))
- result.yaw = 0;
+ if (_isnan(result.yaw))
+ result.yaw = 0;
- if (_isnan(result.pitch))
- result.pitch = 0;
+ if (_isnan(result.pitch))
+ result.pitch = 0;
- return result;
- }
+ return result;
+ }
- return SteerAI::Seek(point);
+ return SteerAI::Seek(point);
}
Steer
NavAI::Flee(const Point& point)
{
- if (ship && ship->IsStarship()) {
- Steer result = Seek(point);
- result.yaw += PI;
- result.pitch *= -1;
- return result;
- }
-
- return SteerAI::Flee(point);
+ if (ship && ship->IsStarship()) {
+ Steer result = Seek(point);
+ result.yaw += PI;
+ result.pitch *= -1;
+ return result;
+ }
+
+ return SteerAI::Flee(point);
}
Steer
NavAI::Avoid(const Point& point, float radius)
{
- if (ship && ship->IsStarship()) {
- Steer result = Seek(point);
+ if (ship && ship->IsStarship()) {
+ Steer result = Seek(point);
- if (point * ship->BeamLine() > 0)
- result.yaw -= PI/2;
- else
- result.yaw += PI/2;
+ if (point * ship->BeamLine() > 0)
+ result.yaw -= PI/2;
+ else
+ result.yaw += PI/2;
- return result;
- }
+ return result;
+ }
- return SteerAI::Avoid(point, radius);
+ return SteerAI::Avoid(point, radius);
}
// +--------------------------------------------------------------------+
@@ -585,37 +585,37 @@ NavAI::Avoid(const Point& point, float radius) Steer
NavAI::AvoidTerrain()
{
- Steer avoid;
+ Steer avoid;
- terrain_warning = false;
+ terrain_warning = false;
- if (!ship || !ship->GetRegion() || !ship->GetRegion()->IsActive() ||
- takeoff || (navpt && navpt->Action() == Instruction::LAUNCH))
- return avoid;
+ if (!ship || !ship->GetRegion() || !ship->GetRegion()->IsActive() ||
+ takeoff || (navpt && navpt->Action() == Instruction::LAUNCH))
+ return avoid;
- if (ship->IsAirborne() && ship->GetFlightPhase() == Ship::ACTIVE) {
- // too low?
- if (ship->AltitudeAGL() < 1000) {
- terrain_warning = true;
- ship->SetDirectorInfo(Game::GetText("ai.too-low"));
+ if (ship->IsAirborne() && ship->GetFlightPhase() == Ship::ACTIVE) {
+ // too low?
+ if (ship->AltitudeAGL() < 1000) {
+ terrain_warning = true;
+ ship->SetDirectorInfo(Game::GetText("ai.too-low"));
- // way too low?
- if (ship->AltitudeAGL() < 750) {
- ship->SetDirectorInfo(Game::GetText("ai.way-too-low"));
- }
+ // way too low?
+ if (ship->AltitudeAGL() < 750) {
+ ship->SetDirectorInfo(Game::GetText("ai.way-too-low"));
+ }
- // where will we be?
- Point selfpt = ship->Location() + ship->Velocity() + Point(0, 10e3, 0);
+ // where will we be?
+ Point selfpt = ship->Location() + ship->Velocity() + Point(0, 10e3, 0);
- // transform into camera coords:
- Point obj = Transform(selfpt);
+ // transform into camera coords:
+ Point obj = Transform(selfpt);
- // pull up!
- avoid = Seek(obj);
- }
- }
+ // pull up!
+ avoid = Seek(obj);
+ }
+ }
- return avoid;
+ return avoid;
}
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