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diff --git a/Stars45/ShipAI.cpp b/Stars45/ShipAI.cpp
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-/* 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
- ========
- Starship (low-level) Artificial Intelligence class
-*/
-
-#include "ShipAI.h"
-#include "TacticalAI.h"
-#include "Ship.h"
-#include "ShipDesign.h"
-#include "Shot.h"
-#include "Element.h"
-#include "NavLight.h"
-#include "Instruction.h"
-#include "RadioMessage.h"
-#include "RadioTraffic.h"
-#include "Contact.h"
-#include "WeaponGroup.h"
-#include "Drive.h"
-#include "Shield.h"
-#include "Sim.h"
-#include "Player.h"
-#include "StarSystem.h"
-#include "FlightComp.h"
-#include "Farcaster.h"
-#include "QuantumDrive.h"
-#include "Debris.h"
-#include "Asteroid.h"
-
-#include "Clock.h"
-#include "ContentBundle.h"
-#include "Random.h"
-
-// +----------------------------------------------------------------------+
-
-ShipAI::ShipAI(SimObject* s)
- : SteerAI(s),
- support(0), rumor(0), threat(0), threat_missile(0), drop_time(0),
- too_close(0), navpt(0), patrol(0), engaged_ship_id(0),
- bracket(false), identify(false), hold(false), takeoff(false),
- throttle(0), old_throttle(0), element_index(1), splash_count(0),
- tactical(0), farcaster(0), ai_level(2), last_avoid_time(0),
- last_call_time(0)
-{
- ship = (Ship*) self;
-
- Sim* sim = Sim::GetSim();
- Ship* pship = sim->GetPlayerShip();
- int player_team = 1;
-
- if (pship)
- player_team = pship->GetIFF();
-
- Player* player = Player::GetCurrentPlayer();
- if (player) {
- if (ship && ship->GetIFF() && ship->GetIFF() != player_team) {
- ai_level = player->AILevel();
- }
- else if (player->AILevel() == 0) {
- ai_level = 1;
- }
- }
-
- // evil alien ships are *always* smart:
- if (ship && ship->GetIFF() > 1 && ship->Design()->auto_roll > 1) {
- ai_level = 2;
- }
-}
-
-
-// +--------------------------------------------------------------------+
-
-ShipAI::~ShipAI()
-{
- delete tactical;
-}
-
-void
-ShipAI::ClearTactical()
-{
- delete tactical;
- tactical = 0;
-}
-
-// +--------------------------------------------------------------------+
-
-Ship*
-ShipAI::GetWard() const
-{
- return ship->GetWard();
-}
-
-void
-ShipAI::SetWard(Ship* s)
-{
- if (ship == nullptr)
- return;
- if (s == ship->GetWard())
- return;
-
- if (ship)
- ship->SetWard(s);
-
- Point form = RandomDirection();
- form.SwapYZ();
-
- if (fabs(form.x) < 0.5) {
- if (form.x < 0)
- form.x = -0.5;
- else
- form.x = 0.5;
- }
-
- if (ship && ship->IsStarship()) {
- form *= 30e3;
- }
- else {
- form *= 15e3;
- form.y = 500;
- }
-
- SetFormationDelta(form);
-}
-
-void
-ShipAI::SetSupport(Ship* s)
-{
- if (support == s)
- return;
-
- support = s;
-
- if (support)
- Observe(support);
-}
-
-void
-ShipAI::SetRumor(Ship* s)
-{
- if (!s || rumor == s)
- return;
-
- rumor = s;
-
- if (rumor)
- Observe(rumor);
-}
-
-void
-ShipAI::ClearRumor()
-{
- rumor = 0;
-}
-
-void
-ShipAI::SetThreat(Ship* s)
-{
- if (threat == s)
- return;
-
- threat = s;
-
- if (threat)
- Observe(threat);
-}
-
-void
-ShipAI::SetThreatMissile(Shot* s)
-{
- if (threat_missile == s)
- return;
-
- threat_missile = s;
-
- if (threat_missile)
- Observe(threat_missile);
-}
-
-bool
-ShipAI::Update(SimObject* obj)
-{
- if (obj == support)
- support = 0;
-
- if (obj == threat)
- threat = 0;
-
- if (obj == threat_missile)
- threat_missile = 0;
-
- if (obj == rumor)
- rumor = 0;
-
- return SteerAI::Update(obj);
-}
-
-const char*
-ShipAI::GetObserverName() const
-{
- static char name[64];
- sprintf_s(name, "ShipAI(%s)", self->Name());
- return name;
-}
-
-// +--------------------------------------------------------------------+
-
-Point
-ShipAI::GetPatrol() const
-{
- return patrol_loc;
-}
-
-void
-ShipAI::SetPatrol(const Point& p)
-{
- patrol = 1;
- patrol_loc = p;
-}
-
-void
-ShipAI::ClearPatrol()
-{
- patrol = 0;
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::ExecFrame(double secs)
-{
- seconds = secs;
-
- if (drop_time > 0) drop_time -= seconds;
- if (!ship) return;
-
- ship->SetDirectorInfo(" ");
-
- // check to make sure current navpt is still valid:
- if (navpt)
- navpt = ship->GetNextNavPoint();
-
- if (ship->GetFlightPhase() == Ship::TAKEOFF || ship->GetFlightPhase() == Ship::LAUNCH)
- takeoff = true;
-
- if (takeoff) {
- FindObjective();
- Navigator();
-
- if (ship->MissionClock() > 10000)
- takeoff = false;
-
- return;
- }
-
- // initial assessment:
- if (ship->MissionClock() < 5000)
- return;
-
- element_index = ship->GetElementIndex();
-
- NavlightControl();
- CheckTarget();
-
- if (tactical)
- tactical->ExecFrame(seconds);
-
- if (target && target != ship->GetTarget()) {
- ship->LockTarget(target);
-
- // if able to lock target, and target is a ship (not a shot)...
- if (target == ship->GetTarget() && target->Type() == SimObject::SIM_SHIP) {
-
- // if this isn't the same ship we last called out:
- if (target->Identity() != engaged_ship_id && Clock::GetInstance()->GameTime() - last_call_time > 10000) {
- // call engaging:
- RadioMessage* msg = new RadioMessage(ship->GetElement(), ship, RadioMessage::CALL_ENGAGING);
- msg->AddTarget(target);
- RadioTraffic::Transmit(msg);
- last_call_time = Clock::GetInstance()->GameTime();
-
- engaged_ship_id = target->Identity();
- }
- }
- }
-
- else if (!target) {
- target = ship->GetTarget();
-
- if (engaged_ship_id && !target) {
- engaged_ship_id = 0;
-
- /***
- *** XXX
- *** Not the right place to make this decision.
- ***
- *** There is a brief wait between killing a target and
- *** selecting a new one, so this message is sent after
- *** every kill.
- ***
- *** Need to track when the entire element has been
- *** put down.
-
- if (element_index == 1) {
- RadioMessage* msg = new RadioMessage(ship->GetElement(), ship, RadioMessage::RESUME_MISSION);
- RadioTraffic::Transmit(msg);
- }
-
- ***
- ***/
- }
- }
-
- FindObjective();
- Navigator();
-}
-
-// +--------------------------------------------------------------------+
-
-Point
-ShipAI::ClosingVelocity()
-{
- if (ship && target) {
- if (ship->GetPrimaryDesign()) {
- WeaponDesign* guns = ship->GetPrimaryDesign();
- Point delta = target->Location() - ship->Location();
-
- // fighters need to aim the ship so that the guns will hit the target
- if (guns->firing_cone < 10*DEGREES && guns->max_range <= delta.length()) {
- Point aim_vec = ship->Heading();
- aim_vec.Normalize();
-
- Point shot_vel = ship->Velocity() + aim_vec * guns->speed;
- return shot_vel - target->Velocity();
- }
-
- // ships with turreted weapons just need to worry about actual closing speed
- else {
- return ship->Velocity() - target->Velocity();
- }
- }
-
- else {
- return ship->Velocity();
- }
- }
-
- return Point(1,0,0);
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::FindObjective()
-{
- distance = 0;
-
- int order = ship->GetRadioOrders()->Action();
-
- if (order == RadioMessage::QUANTUM_TO ||
- order == RadioMessage::FARCAST_TO) {
-
- FindObjectiveQuantum();
- objective = Transform(obj_w);
- return;
- }
-
- bool form = (order == RadioMessage::WEP_HOLD) ||
- (order == RadioMessage::FORM_UP) ||
- (order == RadioMessage::MOVE_PATROL) ||
- (order == RadioMessage::RTB) ||
- (order == RadioMessage::DOCK_WITH) ||
- (!order && !target) ||
- (farcaster);
-
- Ship* ward = ship->GetWard();
-
- // if not the element leader, stay in formation:
- if (form && element_index > 1) {
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.formation"));
-
- if (navpt && navpt->Action() == Instruction::LAUNCH) {
- FindObjectiveNavPoint();
- }
- else {
- navpt = 0;
- FindObjectiveFormation();
- }
-
- // transform into camera coords:
- objective = Transform(obj_w);
- return;
- }
-
- // under orders?
- bool directed = false;
- if (tactical)
- directed = (tactical->RulesOfEngagement() == TacticalAI::DIRECTED);
-
- // threat processing:
- if (threat && !directed) {
- double d_threat = Point(threat->Location() - ship->Location()).length();
-
- // seek support:
- if (support) {
- double d_support = Point(support->Location() - ship->Location()).length();
- if (d_support > 35e3) {
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.regroup"));
- FindObjectiveTarget(support);
- objective = Transform(obj_w);
- return;
- }
- }
-
- // run away:
- else if (threat != target) {
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.retreat"));
- obj_w = ship->Location() + Point(ship->Location() - threat->Location()) * 100;
- objective = Transform(obj_w);
- return;
- }
- }
-
- // normal processing:
- if (target) {
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.seek-target"));
- FindObjectiveTarget(target);
- objective = AimTransform(obj_w);
- }
-
- else if (patrol) {
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.patrol"));
- FindObjectivePatrol();
- objective = Transform(obj_w);
- }
-
- else if (ward) {
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.seek-ward"));
- FindObjectiveFormation();
- objective = Transform(obj_w);
- }
-
- else if (navpt && form) {
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.seek-navpt"));
- FindObjectiveNavPoint();
- objective = Transform(obj_w);
- }
-
- else if (rumor) {
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.search"));
- FindObjectiveTarget(rumor);
- objective = Transform(obj_w);
- }
-
- else {
- obj_w = Point();
- objective = Point();
- }
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::FindObjectiveTarget(SimObject* tgt)
-{
- if (!tgt) {
- obj_w = Point();
- return;
- }
-
- navpt = 0; // this tells fire control that we are chasing a target,
- // instead of a navpoint!
-
- Point cv = ClosingVelocity();
- double cvl = cv.length();
- double time = 0;
-
- if (cvl > 50) {
- // distance from self to target:
- distance = Point(tgt->Location() - self->Location()).length();
-
- // time to reach target:
- time = distance / cvl;
-
- // where the target will be when we reach it:
- if (time < 15) {
- Point run_vec = tgt->Velocity();
- obj_w = tgt->Location() + (run_vec * time);
-
-
- if (time < 10)
- obj_w += (tgt->Acceleration() * 0.33 * time * time);
- }
- else {
- obj_w = tgt->Location();
- }
- }
-
- else {
- obj_w = tgt->Location();
- }
-
- distance = Point(obj_w - self->Location()).length();
-
- if (cvl > 50) {
- time = distance / cvl;
-
- // where we will be when the target gets there:
- if (time < 15) {
- Point self_dest = self->Location() + cv * time;
- Point err = obj_w - self_dest;
-
- obj_w += err;
- }
- }
-
- Point approach = obj_w - self->Location();
- distance = approach.length();
-
- if (bracket && distance > 25e3) {
- Point offset = approach.cross(Point(0,1,0));
- offset.Normalize();
- offset *= 15e3;
-
- Ship* s = (Ship*) self;
- if (s->GetElementIndex() & 1)
- obj_w -= offset;
- else
- obj_w += offset;
- }
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::FindObjectivePatrol()
-{
- navpt = 0;
-
- Point npt = patrol_loc;
- obj_w = npt;
-
- // distance from self to navpt:
- distance = Point(obj_w - self->Location()).length();
-
- if (distance < 1000) {
- ship->ClearRadioOrders();
- ClearPatrol();
- }
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::FindObjectiveNavPoint()
-{
- SimRegion* self_rgn = ship->GetRegion();
- SimRegion* nav_rgn = navpt->Region();
- QuantumDrive* qdrive = ship->GetQuantumDrive();
-
- if (!self_rgn)
- return;
-
- if (!nav_rgn) {
- nav_rgn = self_rgn;
- navpt->SetRegion(nav_rgn);
- }
-
- bool use_farcaster = self_rgn != nav_rgn &&
- (navpt->Farcast() ||
- !qdrive ||
- !qdrive->IsPowerOn() ||
- qdrive->Status() < System::DEGRADED
- );
-
- if (use_farcaster) {
- FindObjectiveFarcaster(self_rgn, nav_rgn);
- }
-
- else {
- if (farcaster) {
- if (farcaster->GetShip()->GetRegion() != self_rgn)
- farcaster = farcaster->GetDest()->GetFarcaster();
-
- obj_w = farcaster->EndPoint();
- }
-
- else {
- // transform from starsystem to world coordinates:
- Point npt = navpt->Region()->Location() + navpt->Location();
-
- SimRegion* active_region = ship->GetRegion();
-
- if (active_region)
- npt -= active_region->Location();
-
- npt = npt.OtherHand();
-
- obj_w = npt;
- }
-
- // distance from self to navpt:
- distance = Point(obj_w - ship->Location()).length();
-
- if (farcaster && distance < 1000)
- farcaster = 0;
-
- if (distance < 1000 || (navpt->Action() == Instruction::LAUNCH && distance > 25000))
- ship->SetNavptStatus(navpt, Instruction::COMPLETE);
- }
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::FindObjectiveQuantum()
-{
- Instruction* orders = ship->GetRadioOrders();
- SimRegion* self_rgn = ship->GetRegion();
- SimRegion* nav_rgn = orders->Region();
- QuantumDrive* qdrive = ship->GetQuantumDrive();
-
- if (!self_rgn || !nav_rgn)
- return;
-
- bool use_farcaster = self_rgn != nav_rgn &&
- (orders->Farcast() ||
- !qdrive ||
- !qdrive->IsPowerOn() ||
- qdrive->Status() < System::DEGRADED
- );
-
- if (use_farcaster) {
- FindObjectiveFarcaster(self_rgn, nav_rgn);
- }
-
- else {
- if (farcaster) {
- if (farcaster->GetShip()->GetRegion() != self_rgn)
- farcaster = farcaster->GetDest()->GetFarcaster();
-
- obj_w = farcaster->EndPoint();
- }
-
- else {
- // transform from starsystem to world coordinates:
- Point npt = orders->Region()->Location() + orders->Location();
-
- SimRegion* active_region = ship->GetRegion();
-
- if (active_region)
- npt -= active_region->Location();
-
- npt = npt.OtherHand();
-
- obj_w = npt;
-
- if (qdrive && qdrive->ActiveState() == QuantumDrive::ACTIVE_READY) {
- qdrive->SetDestination(nav_rgn, orders->Location());
- qdrive->Engage();
- return;
- }
- }
-
- // distance from self to navpt:
- distance = Point(obj_w - ship->Location()).length();
-
- if (farcaster) {
- if (distance < 1000) {
- farcaster = 0;
- ship->ClearRadioOrders();
- }
- }
- else if (self_rgn == nav_rgn) {
- ship->ClearRadioOrders();
- }
- }
-}
-
-void
-ShipAI::FindObjectiveFarcaster(SimRegion* src_rgn, SimRegion* dst_rgn)
-{
- if (!farcaster) {
- ListIter<Ship> s = src_rgn->Ships();
- while (++s && !farcaster) {
- if (s->GetFarcaster()) {
- const Ship* dest = s->GetFarcaster()->GetDest();
- if (dest && dest->GetRegion() == dst_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;
- }
-
- else {
- double r2 = (ship->Location() - apt).length();
- double r3 = (npt - apt).length();
-
- if (r1+r2 < 1.2*r3) {
- obj_w = npt;
- distance = r1;
- }
- else {
- obj_w = apt;
- distance = r2;
- }
- }
-
- objective = Transform(obj_w);
- }
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::SetFormationDelta(const Point& point)
-{
- formation_delta = point;
-}
-
-void
-ShipAI::FindObjectiveFormation()
-{
- const double prediction = 5;
-
- // find the base position:
- Element* elem = ship->GetElement();
- Ship* lead = elem->GetShip(1);
- Ship* ward = ship->GetWard();
-
- if (!lead || lead == ship) {
- lead = ward;
-
- distance = (lead->Location() - self->Location()).length();
- if (distance < 30e3 && lead->Velocity().length() < 50) {
- obj_w = self->Location() + lead->Heading() * 1e6;
- distance = -1;
- return;
- }
- }
-
- obj_w = lead->Location() + lead->Velocity() * prediction;
- Matrix m; m.Rotate(0, 0, lead->CompassHeading() - PI);
- Point fd = formation_delta * m;
- obj_w += fd;
-
- // try to avoid smacking into the ground...
- if (ship->IsAirborne()) {
- if (ship->AltitudeAGL() < 3000 || lead->AltitudeAGL() < 3000) {
- obj_w.y += 500;
- }
- }
-
- Point dst_w = self->Location() + self->Velocity() * prediction;
- Point dlt_w = obj_w - dst_w;
-
- distance = dlt_w.length();
-
- // get slot z distance:
- dlt_w += ship->Location();
- slot_dist = Transform(dlt_w).z;
-
- Director* lead_dir = lead->GetDirector();
- if (lead_dir && (lead_dir->Type() == FIGHTER || lead_dir->Type() == STARSHIP)) {
- ShipAI* lead_ai = (ShipAI*) lead_dir;
- farcaster = lead_ai->GetFarcaster();
- }
- else {
- Instruction* navpt = elem->GetNextNavPoint();
- if (!navpt) {
- farcaster = 0;
- return;
- }
-
- SimRegion* self_rgn = ship->GetRegion();
- SimRegion* nav_rgn = navpt->Region();
- QuantumDrive* qdrive = ship->GetQuantumDrive();
-
- if (self_rgn && !nav_rgn) {
- nav_rgn = self_rgn;
- navpt->SetRegion(nav_rgn);
- }
-
- bool use_farcaster = self_rgn != nav_rgn &&
- (navpt->Farcast() ||
- !qdrive ||
- !qdrive->IsPowerOn() ||
- qdrive->Status() < System::DEGRADED
- );
-
- if (use_farcaster) {
- 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();
- }
- }
- }
- }
- else if (farcaster) {
- if (farcaster->GetShip()->GetRegion() != self_rgn)
- farcaster = farcaster->GetDest()->GetFarcaster();
-
- obj_w = farcaster->EndPoint();
- distance = Point(obj_w - ship->Location()).length();
-
- if (distance < 1000)
- farcaster = 0;
- }
- }
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::Splash(const Ship* targ)
-{
- if (splash_count > 6)
- splash_count = 4;
-
- // call splash:
- RadioTraffic::SendQuickMessage(ship, RadioMessage::SPLASH_1 + splash_count);
- splash_count++;
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::SetTarget(SimObject* targ, System* sub)
-{
- if (targ != target) {
- bracket = false;
- }
-
- SteerAI::SetTarget(targ, sub);
-}
-
-void
-ShipAI::DropTarget(double dtime)
-{
- SetTarget(0);
- drop_time = dtime; // seconds until we can re-acquire
-
- ship->DropTarget();
-}
-
-void
-ShipAI::SetBracket(bool b)
-{
- bracket = b;
- identify = false;
-}
-
-void
-ShipAI::SetIdentify(bool i)
-{
- identify = i;
- bracket = false;
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::Navigator()
-{
- accumulator.Clear();
- magnitude = 0;
-
- hold = false;
- if ((ship->GetElement() && ship->GetElement()->GetHoldTime() > 0) ||
- (navpt && navpt->Status() == Instruction::COMPLETE && navpt->HoldTime() > 0))
- hold = true;
-
- ship->SetFLCSMode(Ship::FLCS_HELM);
-
- if (target)
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.seek-target"));
- else if (rumor)
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.seek-rumor"));
- else
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.none"));
-
- Accumulate(AvoidCollision());
- Accumulate(AvoidTerrain());
-
- if (!hold)
- Accumulate(SeekTarget());
-
- HelmControl();
- ThrottleControl();
- FireControl();
- AdjustDefenses();
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::HelmControl()
-{
- double trans_x = 0;
- double trans_y = 0;
- double trans_z = 0;
-
- ship->SetHelmHeading(accumulator.yaw);
-
- if (fabs(accumulator.pitch) < 5*DEGREES || fabs(accumulator.pitch) > 45*DEGREES) {
- trans_z = objective.y;
- ship->SetHelmPitch(0);
- }
-
- else {
- ship->SetHelmPitch(accumulator.pitch);
- }
-
- ship->SetTransX(trans_x);
- ship->SetTransY(trans_y);
- ship->SetTransZ(trans_z);
-
- ship->ExecFLCSFrame();
-}
-
-/*****************************************
-**
-** NOTE:
-** No one is really using this method.
-** It is overridden by both StarshipAI
-** and FighterAI.
-**
-*****************************************/
-
-void
-ShipAI::ThrottleControl()
-{
- if (navpt && !threat && !target) { // lead only, get speed from navpt
- double speed = navpt->Speed();
-
- if (speed > 0)
- throttle = speed / ship->VelocityLimit() * 100;
- else
- throttle = 50;
- }
-
- else if (patrol && !threat && !target) { // lead only, get speed from navpt
- double speed = 200;
-
- if (distance > 5000)
- speed = 500;
-
- if (ship->Velocity().length() > speed)
- throttle = 0;
- else
- throttle = 50;
- }
-
- else {
- if (threat || target || element_index < 2) { // element lead
- throttle = 100;
-
- if (!threat && !target)
- throttle = 50;
-
- if (accumulator.brake > 0) {
- throttle *= (1 - accumulator.brake);
- }
- }
-
- else { // wingman
- Ship* lead = ship->GetElement()->GetShip(1);
- double lv = lead->Velocity().length();
- double sv = ship->Velocity().length();
- double dv = lv-sv;
- double dt = 0;
-
- if (dv > 0) dt = dv * 1e-2 * seconds;
- else if (dv < 0) dt = dv * 1e-2 * seconds;
-
- throttle = old_throttle + dt;
- }
- }
-
- old_throttle = throttle;
- ship->SetThrottle((int) throttle);
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::NavlightControl()
-{
- Ship* leader = ship->GetLeader();
-
- if (leader && leader != ship) {
- bool navlight_enabled = false;
-
- if (leader->NavLights().size() > 0)
- navlight_enabled = leader->NavLights().at(0)->IsEnabled();
-
- for (int i = 0; i < ship->NavLights().size(); i++) {
- if (navlight_enabled)
- ship->NavLights().at(i)->Enable();
- else
- ship->NavLights().at(i)->Disable();
- }
- }
-}
-
-// +--------------------------------------------------------------------+
-
-Steer
-ShipAI::AvoidTerrain()
-{
- Steer avoid;
- return avoid;
-}
-
-// +--------------------------------------------------------------------+
-
-Steer
-ShipAI::AvoidCollision()
-{
- Steer avoid;
-
- if (!ship || !ship->GetRegion() || !ship->GetRegion()->IsActive())
- return avoid;
-
- if (other && (other->Life() == 0 || other->Integrity() < 1)) {
- other = 0;
- last_avoid_time = 0; // check for a new obstacle immediately
- }
-
- if (!other && Clock::GetInstance()->GameTime() - last_avoid_time < 500)
- return avoid;
-
- brake = 0;
-
- // don't get closer than this:
- double avoid_dist = 5 * self->Radius();
-
- if (avoid_dist < 1e3) avoid_dist = 1e3;
- else if (avoid_dist > 12e3) avoid_dist = 12e3;
-
- // find the soonest potential collision,
- // ignore any that occur after this:
- double avoid_time = 15;
-
- if (ship->Design()->avoid_time > 0)
- avoid_time = ship->Design()->avoid_time;
- else if (ship->IsStarship())
- avoid_time *= 1.5;
-
- Point bearing = self->Velocity();
- bearing.Normalize();
-
- bool found = false;
- int num_contacts = ship->NumContacts();
- ListIter<Contact> contact = ship->ContactList();
-
- // check current obstacle first:
- if (other) {
- found = AvoidTestSingleObject(other, bearing, avoid_dist, avoid_time, avoid);
- }
-
- if (!found) {
- // avoid ships:
- while (++contact && !found) {
- Ship* c_ship = contact->GetShip();
-
- if (c_ship && c_ship != ship && c_ship->IsStarship()) {
- found = AvoidTestSingleObject(c_ship, bearing, avoid_dist, avoid_time, avoid);
- }
- }
-
- // also avoid large pieces of debris:
- if (!found) {
- ListIter<Debris> iter = ship->GetRegion()->Rocks();
- while (++iter && !found) {
- Debris* debris = iter.value();
-
- if (debris->Mass() > ship->Mass())
- found = AvoidTestSingleObject(debris, bearing, avoid_dist, avoid_time, avoid);
- }
- }
-
- // and asteroids:
- if (!found) {
- // give asteroids a wider berth -
- avoid_dist *= 8;
-
- ListIter<Asteroid> iter = ship->GetRegion()->Roids();
- while (++iter && !found) {
- Asteroid* roid = iter.value();
- found = AvoidTestSingleObject(roid, bearing, avoid_dist, avoid_time, avoid);
- }
-
- if (!found)
- avoid_dist /= 8;
- }
-
- // if found, steer to avoid:
- if (other) {
- avoid = Avoid(obstacle, (float) (ship->Radius() + other->Radius() + avoid_dist * 0.9));
- avoid.brake = brake;
-
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.avoid-collision"));
- }
- }
-
- last_avoid_time = Clock::GetInstance()->GameTime();
- return avoid;
-}
-
-bool
-ShipAI::AvoidTestSingleObject(SimObject* obj,
-const Point& bearing,
-double avoid_dist,
-double& avoid_time,
-Steer& avoid)
-{
- if (too_close == obj->Identity()) {
- double dist = (ship->Location() - obj->Location()).length();
- double closure = (ship->Velocity() - obj->Velocity()) * bearing;
-
- if (closure > 1 && dist < avoid_dist) {
- avoid = AvoidCloseObject(obj);
- return true;
- }
- else {
- too_close = 0;
- }
- }
-
- // will we get close?
- double time = ClosestApproachTime(ship->Location(), ship->Velocity(),
- obj->Location(), obj->Velocity());
-
- // already past the obstacle:
- if (time <= 0) {
- if (other == obj) other = 0;
- return false;
- }
-
- // how quickly could we collide?
- Point current_relation = ship->Location() - obj->Location();
- double current_distance = current_relation.length() - ship->Radius() - obj->Radius();
-
- // are we really far away?
- if (current_distance > 25e3) {
- if (other == obj) other = 0;
- return false;
- }
-
- // is the obstacle a farcaster?
- if (obj->Type() == SimObject::SIM_SHIP) {
- Ship* c_ship = (Ship*) obj;
-
- if (c_ship->GetFarcaster()) {
- // are we on a safe vector?
- Point dir = ship->Velocity();
- dir.Normalize();
-
- double angle_off = fabs(acos(dir * obj->Cam().vpn()));
-
- if (angle_off > 90*DEGREES)
- angle_off = 180*DEGREES - angle_off;
-
- if (angle_off < 35*DEGREES) {
- // will we pass through the center?
- Point d = ship->Location() + dir * (current_distance + ship->Radius() + obj->Radius());
- double err = (obj->Location() - d).length();
-
- if (err < 0.667 * obj->Radius()) {
- return false;
- }
- }
- }
- }
-
- // rate of closure:
- double closing_velocity = (ship->Velocity() - obj->Velocity()) * bearing;
-
- // are we too close already?
- if (current_distance < (avoid_dist * 0.35)) {
- if (closing_velocity > 1 || current_distance < ship->Radius()) {
- avoid = AvoidCloseObject(obj);
- return true;
- }
- }
-
- // too far away to worry about:
- double separation = (avoid_dist + obj->Radius());
- if ((current_distance-separation) / closing_velocity > avoid_time) {
- if (other == obj) other = 0;
- return false;
- }
-
- // where will we be?
- Point selfpt = ship->Location() + ship->Velocity() * time;
- Point testpt = obj->Location() + obj->Velocity() * time;
-
- // how close will we get?
- double dist = (selfpt - testpt).length()
- - ship->Radius()
- - obj->Radius();
-
- // that's too close:
- if (dist < avoid_dist) {
- if (dist < avoid_dist * 0.25 && time < avoid_time * 0.5) {
- avoid = AvoidCloseObject(obj);
- return true;
- }
-
- obstacle = Transform(testpt);
-
- if (obstacle.z > 0) {
- other = obj;
- avoid_time = time;
- brake = 0.5;
-
- Observe(other);
- }
- }
-
- // hysteresis:
- else if (other == obj && dist > avoid_dist * 1.25) {
- other = 0;
- }
-
- return false;
-}
-
-// +--------------------------------------------------------------------+
-
-Steer
-ShipAI::AvoidCloseObject(SimObject* obj)
-{
- too_close = obj->Identity();
- obstacle = Transform(obj->Location());
- other = obj;
-
- Observe(other);
-
- Steer avoid = Flee(obstacle);
- avoid.brake = 0.3;
-
- ship->SetDirectorInfo(ContentBundle::GetInstance()->GetText("ai.avoid-collision"));
- return avoid;
-}
-
-// +--------------------------------------------------------------------+
-
-Steer
-ShipAI::SeekTarget()
-{
- Ship* ward = ship->GetWard();
-
- if (!target && !ward && !navpt && !patrol) {
- if (element_index > 1) {
- // wingmen keep in formation:
- return Seek(objective);
- }
-
- if (farcaster) {
- return Seek(objective);
- }
-
- if (rumor) {
- return Seek(objective);
- }
-
- return Steer();
- }
-
- if (patrol) {
- Steer result = Seek(objective);
-
- if (distance < 2000) {
- result.brake = 1;
- }
-
- return result;
- }
-
- if (target && too_close == target->Identity()) {
- drop_time = 4;
- return Avoid(objective, 0.0f);
- }
- else if (drop_time > 0) {
- return Steer();
- }
-
- return Seek(objective);
-}
-
-// +--------------------------------------------------------------------+
-
-Steer
-ShipAI::EvadeThreat()
-{
- return Steer();
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::FireControl()
-{
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::AdjustDefenses()
-{
- Shield* shield = ship->GetShield();
-
- if (shield) {
- double desire = 50;
-
- if (threat_missile || threat)
- desire = 100;
-
- shield->SetPowerLevel(desire);
- }
-}
-
-// +--------------------------------------------------------------------+
-
-void
-ShipAI::CheckTarget()
-{
- if (target) {
- if (target->Life() == 0)
- target = 0;
-
- else if (target->Type() == SimObject::SIM_SHIP) {
- Ship* tgt_ship = (Ship*) target;
-
- if (tgt_ship->GetIFF() == ship->GetIFF() && !tgt_ship->IsRogue())
- target = 0;
- }
- }
-}
generated by cgit v1.1 at 2024-11-05 04:51:30 +0000