diff options
Diffstat (limited to 'Stars45/NavAI.cpp')
| -rw-r--r-- | Stars45/NavAI.cpp | 621 |
1 files changed, 0 insertions, 621 deletions
diff --git a/Stars45/NavAI.cpp b/Stars45/NavAI.cpp deleted file mode 100644 index ad897d0..0000000 --- a/Stars45/NavAI.cpp +++ /dev/null @@ -1,621 +0,0 @@ -/* Starshatter: The Open Source Project - Copyright (c) 2021-2022, Starshatter: The Open Source Project Contributors - Copyright (c) 2011-2012, Starshatter OpenSource Distribution Contributors - Copyright (c) 1997-2006, Destroyer Studios LLC. - - AUTHOR: John DiCamillo - - - OVERVIEW - ======== - Automatic Navigator Artificial Intelligence class -*/ - -#include "NavAI.h" -#include "TacticalAI.h" -#include "Instruction.h" -#include "NavSystem.h" -#include "QuantumDrive.h" -#include "Ship.h" -#include "ShipDesign.h" -#include "ShipCtrl.h" -#include "Drive.h" -#include "Farcaster.h" -#include "Shield.h" -#include "Sim.h" -#include "StarSystem.h" -#include "KeyMap.h" -#include "HUDView.h" -#include "HUDSounds.h" - -#include "Game.h" -#include "ContentBundle.h" - -// +----------------------------------------------------------------------+ - -NavAI::NavAI(Ship* s) -: ShipAI(s), complete(false), brakes(0), -drop_state(0), quantum_state(0), farcaster(0), terrain_warning(false) -{ - seek_gain = 20; - seek_damp = 0.55; - - delete tactical; - tactical = 0; -} - -// +--------------------------------------------------------------------+ - -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; - } -} - -// +--------------------------------------------------------------------+ - -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(ContentBundle::GetInstance()->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); - } -} - -// +--------------------------------------------------------------------+ - -void -NavAI::Navigator() -{ - accumulator.Clear(); - magnitude = 0; - brakes = 0; - hold = false; - - if (navpt) { - if (navpt->Status() == Instruction::COMPLETE && navpt->HoldTime() > 0) { - ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.auto-hold")); - hold = true; - } - else { - ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.auto-nav")); - } - } - else { - ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.auto-stop")); - } - - Accumulate(AvoidTerrain()); - Accumulate(AvoidCollision()); - - if (!hold) - accumulator = SeekTarget(); - - HelmControl(); - ThrottleControl(); -} - -// +--------------------------------------------------------------------+ - -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(); -} - -// +--------------------------------------------------------------------+ - -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); -} - -// +--------------------------------------------------------------------+ - -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(); -} - -// +--------------------------------------------------------------------+ - -void -NavAI::Disengage() -{ - throttle = 0; -} - -// +--------------------------------------------------------------------+ - -Point -NavAI::Transform(const Point& point) -{ - if (ship && ship->IsStarship()) - return point - self->Location(); - - 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 && ship->IsStarship()) { - Steer result; - - 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); - - if (_isnan(result.yaw)) - result.yaw = 0; - - if (_isnan(result.pitch)) - result.pitch = 0; - - return result; - } - - 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); -} - -Steer -NavAI::Avoid(const Point& point, float radius) -{ - if (ship && ship->IsStarship()) { - Steer result = Seek(point); - - if (point * ship->BeamLine() > 0) - result.yaw -= PI/2; - else - result.yaw += PI/2; - - return result; - } - - return SteerAI::Avoid(point, radius); -} - -// +--------------------------------------------------------------------+ - -Steer -NavAI::AvoidTerrain() -{ - Steer avoid; - - terrain_warning = false; - - 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(ContentBundle::GetInstance()->GetText("ai.too-low")); - - // way too low? - if (ship->AltitudeAGL() < 750) { - ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.way-too-low")); - } - - // where will we be? - Point selfpt = ship->Location() + ship->Velocity() + Point(0, 10e3, 0); - - // transform into camera coords: - Point obj = Transform(selfpt); - - // pull up! - avoid = Seek(obj); - } - } - - return avoid; -} - - - |