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-rw-r--r--Stars45/SteerAI.cpp451
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diff --git a/Stars45/SteerAI.cpp b/Stars45/SteerAI.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
- ========
- Steering (low-level) Artificial Intelligence class
-*/
-
-#include "SteerAI.h"
-#include "SeekerAI.h"
-#include "FighterAI.h"
-#include "StarshipAI.h"
-#include "GroundAI.h"
-#include "System.h"
-
-#include "Clock.h"
-#include "Physical.h"
-
-// +----------------------------------------------------------------------+
-
-Steer Steer::operator+(const Steer& s) const
-{
- return Steer(yaw+s.yaw, pitch+s.pitch, roll+s.roll, (brake>s.brake)?brake:s.brake);
-}
-
-Steer Steer::operator-(const Steer& s) const
-{
- return Steer(yaw-s.yaw, pitch-s.pitch, roll-s.roll, (brake<s.brake)?brake:s.brake);
-}
-
-Steer Steer::operator*(double f) const
-{
- return Steer(yaw*f, pitch*f, roll*f, brake);
-}
-
-Steer Steer::operator/(double f) const
-{
- return Steer(yaw/f, pitch/f, roll/f, brake);
-}
-
-
-Steer& Steer::operator+=(const Steer& s)
-{
- yaw += s.yaw;
- pitch += s.pitch;
- roll += s.roll;
-
- if (s.brake > brake)
- brake = s.brake;
-
- if (s.stop)
- stop = 1;
-
- return *this;
-}
-
-Steer& Steer::operator-=(const Steer& s)
-{
- yaw -= s.yaw;
- pitch -= s.pitch;
- roll -= s.roll;
-
- if (s.brake < brake)
- brake = s.brake;
-
- if (s.stop)
- stop = 1;
-
- return *this;
-}
-
-
-double
-Steer::Magnitude() const
-{
- return sqrt(yaw*yaw + pitch*pitch);
-}
-
-// +--------------------------------------------------------------------+
-
-Director*
-SteerAI::Create(SimObject* self, int type)
-{
- switch (type) {
- case SEEKER: return new SeekerAI(self);
- break;
-
- case STARSHIP: return new StarshipAI(self);
- break;
-
- case GROUND: return new GroundAI(self);
- break;
-
- default:
- case FIGHTER: return new FighterAI(self);
- break;
- }
-}
-
-// +----------------------------------------------------------------------+
-
-SteerAI::SteerAI(SimObject* ship)
-: self(ship),
-target(0), subtarget(0), other(0), distance(0.0), evade_time(0),
-objective(0.0f, 0.0f, 0.0f)
-{
- seek_gain = 20;
- seek_damp = 0.5;
-
- for (int i = 0; i < 3; i++)
- az[i] = el[i] = 0;
-}
-
-
-// +--------------------------------------------------------------------+
-
-SteerAI::~SteerAI()
-{ }
-
-// +--------------------------------------------------------------------+
-
-void
-SteerAI::SetTarget(SimObject* targ, System* sub)
-{
- if (target != targ) {
- target = targ;
-
- if (target)
- Observe(target);
- }
-
- subtarget = sub;
-}
-
-void
-SteerAI::DropTarget(double dtime)
-{
- SetTarget(0);
-}
-
-// +--------------------------------------------------------------------+
-
-bool
-SteerAI::Update(SimObject* obj)
-{
- if (obj == target) {
- target = 0;
- subtarget = 0;
- }
-
- if (obj == other) {
- other = 0;
- }
-
- return SimObserver::Update(obj);
-}
-
-const char*
-SteerAI::GetObserverName() const
-{
- static char name[64];
- sprintf_s(name, "SteerAI(%s)", self->Name());
- return name;
-}
-
-// +--------------------------------------------------------------------+
-
-Point
-SteerAI::ClosingVelocity()
-{
- if (self) {
- if (target)
- return self->Velocity() - target->Velocity();
- else
- return self->Velocity();
- }
-
- return Point(1, 0, 0);
-}
-
-void
-SteerAI::FindObjective()
-{
- if (!self || !target) return;
-
- Point cv = ClosingVelocity();
- double cvl = cv.length();
- double time = 0;
-
- if (cvl > 5) {
- // distance from self to target:
- distance = Point(target->Location() - self->Location()).length();
-
- // time to reach target:
- time = distance / cvl;
-
- // where the target will be when we reach it:
- Point run_vec = target->Velocity();
- obj_w = target->Location() + (run_vec * time);
- }
-
- else {
- obj_w = target->Location();
- }
-
- // subsystem offset:
- if (subtarget) {
- Point offset = target->Location() - subtarget->MountLocation();
- obj_w -= offset;
- }
-
- distance = Point(obj_w - self->Location()).length();
-
- if (cvl > 5)
- time = distance / cvl;
-
- // where we will be when the target gets there:
- Point self_dest = self->Location() + cv * time;
- Point err = obj_w - self_dest;
-
- obj_w += err;
-
- // transform into camera coords:
- objective = Transform(obj_w);
- objective.Normalize();
-
- distance = Point(obj_w - self->Location()).length();
-}
-
-Point
-SteerAI::Transform(const Point& pt)
-{
- Point obj_t = pt - self->Location();
- Point result;
-
- if (self->FlightPathYawAngle() != 0 || self->FlightPathPitchAngle() != 0) {
- double az = self->FlightPathYawAngle();
- double el = self->FlightPathPitchAngle();
-
- const double MAX_ANGLE = 15*DEGREES;
- const double MIN_ANGLE = 3*DEGREES;
-
- if (az > MAX_ANGLE)
- az = MAX_ANGLE;
- else if (az < -MAX_ANGLE)
- az = -MAX_ANGLE;
- else if (az > MIN_ANGLE)
- az = MIN_ANGLE + (az-MIN_ANGLE)/2;
- else if (az < -MIN_ANGLE)
- az = -MIN_ANGLE + (az+MIN_ANGLE)/2;
-
- if (el > MAX_ANGLE)
- el = MAX_ANGLE;
- else if (el < -MAX_ANGLE)
- el = -MAX_ANGLE;
- else if (el > MIN_ANGLE)
- el = MIN_ANGLE + (el-MIN_ANGLE)/2;
- else if (el < -MIN_ANGLE)
- el = -MIN_ANGLE + (el+MIN_ANGLE)/2;
-
- Camera cam;
- cam.Clone(self->Cam());
- cam.Yaw(az);
- cam.Pitch(-el);
-
- result = Point(obj_t * cam.vrt(),
- obj_t * cam.vup(),
- obj_t * cam.vpn());
- }
- else {
- Camera& cam = (Camera&) self->Cam(); // cast away const
-
- result = Point(obj_t * cam.vrt(),
- obj_t * cam.vup(),
- obj_t * cam.vpn());
- }
-
- return result;
-}
-
-Point
-SteerAI::AimTransform(const Point& pt)
-{
- Camera& cam = (Camera&) self->Cam(); // cast away const
- Point obj_t = pt - self->Location();
-
- Point result = Point(obj_t * cam.vrt(),
- obj_t * cam.vup(),
- obj_t * cam.vpn());
-
- return result;
-}
-
-// +--------------------------------------------------------------------+
-
-void
-SteerAI::Navigator()
-{
- accumulator.Clear();
- magnitude = 0;
-}
-
-int
-SteerAI::Accumulate(const Steer& steer)
-{
- int overflow = 0;
-
- double mag = steer.Magnitude();
-
- if (magnitude + mag > 1) {
- overflow = 1;
- double scale = (1 - magnitude) / mag;
-
- accumulator += steer * scale;
- magnitude = 1;
-
- if (seeking) {
- az[0] *= scale;
- el[0] *= scale;
- seeking = 0;
- }
- }
- else {
- accumulator += steer;
- magnitude += mag;
- }
-
- return overflow;
-}
-
-// +--------------------------------------------------------------------+
-
-Steer
-SteerAI::Seek(const Point& point)
-{
- Steer s;
-
- // advance memory pipeline:
- az[2] = az[1]; az[1] = az[0];
- el[2] = el[1]; el[1] = el[0];
-
- // approach
- if (point.z > 0.0f) {
- az[0] = atan2(fabs(point.x), point.z) * seek_gain;
- el[0] = atan2(fabs(point.y), point.z) * seek_gain;
-
- if (point.x < 0) az[0] = -az[0];
- if (point.y > 0) el[0] = -el[0];
-
- s.yaw = az[0] - seek_damp * (az[1] + az[2] * 0.5);
- s.pitch = el[0] - seek_damp * (el[1] + el[2] * 0.5);
- }
-
- // reverse
- else {
- if (point.x > 0) s.yaw = 1.0f;
- else s.yaw = -1.0f;
-
- s.pitch = -point.y * 0.5f;
- }
-
- seeking = 1;
-
- return s;
-}
-
-// +--------------------------------------------------------------------+
-
-Steer
-SteerAI::Flee(const Point& pt)
-{
- Steer s;
-
- Point point = pt;
- point.Normalize();
-
- // approach
- if (point.z > 0.0f) {
- if (point.x > 0) s.yaw = -1.0f;
- else s.yaw = 1.0f;
- }
-
- // flee
- else {
- s.yaw = -point.x;
- s.pitch = point.y;
- }
-
- return s;
-}
-
-// +--------------------------------------------------------------------+
-
-Steer
-SteerAI::Avoid(const Point& point, float radius)
-{
- Steer s;
-
- if (point.z > 0) {
- double ax = radius - fabs(point.x);
- double ay = radius - fabs(point.y);
-
- // go around?
- if (ax < ay) {
- s.yaw = atan2(ax, point.z) * seek_gain;
- if (point.x > 0) s.yaw = -s.yaw;
- }
-
- // go over/under:
- else {
- s.pitch = atan2(ay, point.z) * seek_gain;
- if (point.y < 0) s.pitch = -s.pitch;
- }
- }
-
- return s;
-}
-
-// +--------------------------------------------------------------------+
-
-Steer
-SteerAI::Evade(const Point& point, const Point& vel)
-{
- Steer evade;
-
- if (Clock::GetInstance()->GameTime() - evade_time > 1250) {
- evade_time = Clock::GetInstance()->GameTime();
-
- int direction = (rand()>>9) & 0x07;
-
- switch (direction) {
- default:
- case 0: evade.yaw = 0; evade.pitch = -0.5; break;
- case 1: evade.yaw = 0; evade.pitch = -1.0; break;
- case 2: evade.yaw = 1; evade.pitch = -0.3; break;
- case 3: evade.yaw = 1; evade.pitch = -0.6; break;
- case 4: evade.yaw = 1; evade.pitch = -1.0; break;
- case 5: evade.yaw = -1; evade.pitch = -0.3; break;
- case 6: evade.yaw = -1; evade.pitch = -0.6; break;
- case 7: evade.yaw = -1; evade.pitch = -1.0; break;
- }
- }
-
- return evade;
-}
-
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