diff options
Diffstat (limited to 'Stars45/SteerAI.cpp')
| -rw-r--r-- | Stars45/SteerAI.cpp | 550 |
1 files changed, 275 insertions, 275 deletions
diff --git a/Stars45/SteerAI.cpp b/Stars45/SteerAI.cpp index 7287949..db417e3 100644 --- a/Stars45/SteerAI.cpp +++ b/Stars45/SteerAI.cpp @@ -1,15 +1,15 @@ /* Project Starshatter 4.5
- Destroyer Studios LLC
- Copyright © 1997-2004. All Rights Reserved.
+ Destroyer Studios LLC
+ Copyright © 1997-2004. All Rights Reserved.
- SUBSYSTEM: Stars.exe
- FILE: SteerAI.cpp
- AUTHOR: John DiCamillo
+ SUBSYSTEM: Stars.exe
+ FILE: SteerAI.cpp
+ AUTHOR: John DiCamillo
- OVERVIEW
- ========
- Steering (low-level) Artificial Intelligence class
+ OVERVIEW
+ ========
+ Steering (low-level) Artificial Intelligence class
*/
#include "MemDebug.h"
@@ -24,63 +24,63 @@ #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);
+ 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);
+ 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);
+ return Steer(yaw*f, pitch*f, roll*f, brake);
}
Steer Steer::operator/(double f) const
{
- return Steer(yaw/f, pitch/f, roll/f, brake);
+ 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;
+ 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;
+ 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);
+ return sqrt(yaw*yaw + pitch*pitch);
}
// +--------------------------------------------------------------------+
@@ -88,34 +88,34 @@ Steer::Magnitude() const Director*
SteerAI::Create(SimObject* self, int type)
{
- switch (type) {
- case SEEKER: return new(__FILE__,__LINE__) SeekerAI(self);
- break;
+ switch (type) {
+ case SEEKER: return new(__FILE__,__LINE__) SeekerAI(self);
+ break;
- case STARSHIP: return new(__FILE__,__LINE__) StarshipAI(self);
- break;
+ case STARSHIP: return new(__FILE__,__LINE__) StarshipAI(self);
+ break;
- case GROUND: return new(__FILE__,__LINE__) GroundAI(self);
- break;
+ case GROUND: return new(__FILE__,__LINE__) GroundAI(self);
+ break;
- default:
- case FIGHTER: return new(__FILE__,__LINE__) FighterAI(self);
- break;
- }
+ default:
+ case FIGHTER: return new(__FILE__,__LINE__) 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)
+: 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;
+ seek_gain = 20;
+ seek_damp = 0.5;
- for (int i = 0; i < 3; i++)
- az[i] = el[i] = 0;
+ for (int i = 0; i < 3; i++)
+ az[i] = el[i] = 0;
}
@@ -129,20 +129,20 @@ SteerAI::~SteerAI() void
SteerAI::SetTarget(SimObject* targ, System* sub)
{
- if (target != targ) {
- target = targ;
-
- if (target)
- Observe(target);
- }
-
- subtarget = sub;
+ if (target != targ) {
+ target = targ;
+
+ if (target)
+ Observe(target);
+ }
+
+ subtarget = sub;
}
void
SteerAI::DropTarget(double dtime)
{
- SetTarget(0);
+ SetTarget(0);
}
// +--------------------------------------------------------------------+
@@ -150,24 +150,24 @@ SteerAI::DropTarget(double dtime) bool
SteerAI::Update(SimObject* obj)
{
- if (obj == target) {
- target = 0;
- subtarget = 0;
- }
-
- if (obj == other) {
- other = 0;
- }
-
- return SimObserver::Update(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(name, "SteerAI(%s)", self->Name());
- return name;
+ static char name[64];
+ sprintf(name, "SteerAI(%s)", self->Name());
+ return name;
}
// +--------------------------------------------------------------------+
@@ -175,127 +175,127 @@ SteerAI::GetObserverName() const Point
SteerAI::ClosingVelocity()
{
- if (self) {
- if (target)
- return self->Velocity() - target->Velocity();
- else
- return self->Velocity();
- }
-
- return Point(1, 0, 0);
+ 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;
+ if (!self || !target) return;
+
+ Point cv = ClosingVelocity();
+ double cvl = cv.length();
+ double time = 0;
- 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();
- if (cvl > 5) {
- // distance from self to target:
- distance = Point(target->Location() - self->Location()).length();
+ // time to reach target:
+ time = distance / cvl;
- // 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);
+ }
- // 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();
+ }
- else {
- obj_w = target->Location();
- }
+ // subsystem offset:
+ if (subtarget) {
+ Point offset = target->Location() - subtarget->MountLocation();
+ obj_w -= offset;
+ }
- // subsystem offset:
- if (subtarget) {
- Point offset = target->Location() - subtarget->MountLocation();
- obj_w -= offset;
- }
+ distance = Point(obj_w - self->Location()).length();
- distance = Point(obj_w - self->Location()).length();
+ if (cvl > 5)
+ time = distance / cvl;
- 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;
- // 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;
- obj_w += err;
-
- // transform into camera coords:
- objective = Transform(obj_w);
- objective.Normalize();
+ // transform into camera coords:
+ objective = Transform(obj_w);
+ objective.Normalize();
- distance = Point(obj_w - self->Location()).length();
+ 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 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();
+ 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());
+ Point result = Point(obj_t * cam.vrt(),
+ obj_t * cam.vup(),
+ obj_t * cam.vpn());
- return result;
+ return result;
}
// +--------------------------------------------------------------------+
@@ -303,36 +303,36 @@ SteerAI::AimTransform(const Point& pt) void
SteerAI::Navigator()
{
- accumulator.Clear();
- magnitude = 0;
+ 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;
+ 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;
}
// +--------------------------------------------------------------------+
@@ -340,35 +340,35 @@ SteerAI::Accumulate(const Steer& steer) Steer
SteerAI::Seek(const Point& point)
{
- Steer s;
+ Steer s;
- // advance memory pipeline:
- az[2] = az[1]; az[1] = az[0];
- el[2] = el[1]; el[1] = el[0];
+ // 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;
+ // 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];
+ 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);
- }
+ 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;
+ // reverse
+ else {
+ if (point.x > 0) s.yaw = 1.0f;
+ else s.yaw = -1.0f;
- s.pitch = -point.y * 0.5f;
- }
+ s.pitch = -point.y * 0.5f;
+ }
- seeking = 1;
+ seeking = 1;
- return s;
+ return s;
}
// +--------------------------------------------------------------------+
@@ -376,24 +376,24 @@ SteerAI::Seek(const Point& point) 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 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;
}
// +--------------------------------------------------------------------+
@@ -401,26 +401,26 @@ SteerAI::Flee(const Point& pt) 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 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;
}
// +--------------------------------------------------------------------+
@@ -428,26 +428,26 @@ SteerAI::Avoid(const Point& point, float radius) Steer
SteerAI::Evade(const Point& point, const Point& vel)
{
- Steer evade;
-
- if (Game::GameTime() - evade_time > 1250) {
- evade_time = Game::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;
+ Steer evade;
+
+ if (Game::GameTime() - evade_time > 1250) {
+ evade_time = Game::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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