From b829170121d3657369904ec62d8065606777a9ce Mon Sep 17 00:00:00 2001 From: Aki Date: Fri, 1 Oct 2021 18:54:04 +0200 Subject: Removed doxygen generated docs They can be rebuild anytime and are considered a build artifact/binary. --- Doc/doxygen/html/_nav_a_i_8cpp_source.html | 739 ----------------------------- 1 file changed, 739 deletions(-) delete mode 100644 Doc/doxygen/html/_nav_a_i_8cpp_source.html (limited to 'Doc/doxygen/html/_nav_a_i_8cpp_source.html') diff --git a/Doc/doxygen/html/_nav_a_i_8cpp_source.html b/Doc/doxygen/html/_nav_a_i_8cpp_source.html deleted file mode 100644 index 1a21cc9..0000000 --- a/Doc/doxygen/html/_nav_a_i_8cpp_source.html +++ /dev/null @@ -1,739 +0,0 @@ - - - - - -Starshatter_Open: D:/SRC/StarshatterSVN/Stars45/NavAI.cpp Source File - - - - - - - - - - - - - -
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Open source Starshatter engine
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NavAI.cpp
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-Go to the documentation of this file.
1 /* Project Starshatter 5.0
-
2  Destroyer Studios LLC
-
3  Copyright © 1997-2007. All Rights Reserved.
-
4 
-
5  SUBSYSTEM: Stars.exe
-
6  FILE: NavAI.cpp
-
7  AUTHOR: John DiCamillo
-
8 
-
9 
-
10  OVERVIEW
-
11  ========
-
12  Automatic Navigator Artificial Intelligence class
-
13 */
-
14 
-
15 #include "MemDebug.h"
-
16 #include "NavAI.h"
-
17 #include "TacticalAI.h"
-
18 #include "Instruction.h"
-
19 #include "NavSystem.h"
-
20 #include "QuantumDrive.h"
-
21 #include "Ship.h"
-
22 #include "ShipDesign.h"
-
23 #include "ShipCtrl.h"
-
24 #include "Drive.h"
-
25 #include "Farcaster.h"
-
26 #include "Shield.h"
-
27 #include "Sim.h"
-
28 #include "StarSystem.h"
-
29 #include "KeyMap.h"
-
30 #include "HUDView.h"
-
31 #include "HUDSounds.h"
-
32 
-
33 #include "Game.h"
-
34 
-
35 // +----------------------------------------------------------------------+
-
36 
-
37 NavAI::NavAI(Ship* s)
-
38 : ShipAI(s), complete(false), brakes(0),
-
39 drop_state(0), quantum_state(0), farcaster(0), terrain_warning(false)
-
40 {
-
41  seek_gain = 20;
-
42  seek_damp = 0.55;
-
43 
-
44  delete tactical;
-
45  tactical = 0;
-
46 }
-
47 
-
48 // +--------------------------------------------------------------------+
-
49 
-
50 NavAI::~NavAI()
-
51 { }
-
52 
-
53 // +--------------------------------------------------------------------+
-
54 
-
55 void
-
56 NavAI::ExecFrame(double s)
-
57 {
-
58  if (!ship) return;
-
59 
-
60  seconds = s;
-
61 
-
62  ship->SetDirectorInfo(" ");
-
63 
-
64  if (ship->GetFlightPhase() == Ship::TAKEOFF)
-
65  takeoff = true;
-
66 
-
67  else if (takeoff && ship->MissionClock() > 10000)
-
68  takeoff = false;
-
69 
-
70  FindObjective();
-
71  Navigator();
-
72 
-
73  // watch for disconnect:
-
74  if (ShipCtrl::Toggled(KEY_AUTO_NAV)) {
-
75  NavSystem* navsys = ship->GetNavSystem();
-
76  if (navsys) {
-
77  HUDView::GetInstance()->SetHUDMode(HUDView::HUD_MODE_TAC);
-
78  navsys->DisengageAutoNav();
-
79 
-
80  Sim* sim = Sim::GetSim();
-
81  if (sim) {
-
82  ship->SetControls(sim->GetControls());
-
83  return;
-
84  }
-
85  }
-
86  }
-
87 
-
88  static double time_til_change = 0.0;
-
89 
-
90  if (time_til_change < 0.001) {
-
91  if (ship->GetShield()) {
-
92  Shield* shield = ship->GetShield();
-
93  double level = shield->GetPowerLevel();
-
94 
-
95  if (ShipCtrl::KeyDown(KEY_SHIELDS_FULL)) {
-
96  HUDSounds::PlaySound(HUDSounds::SND_SHIELD_LEVEL);
-
97  shield->SetPowerLevel(100);
-
98  time_til_change = 0.5f;
-
99  }
-
100 
-
101  else if (ShipCtrl::KeyDown(KEY_SHIELDS_ZERO)) {
-
102  HUDSounds::PlaySound(HUDSounds::SND_SHIELD_LEVEL);
-
103  shield->SetPowerLevel(0);
-
104  time_til_change = 0.5f;
-
105  }
-
106 
-
107  else if (ShipCtrl::KeyDown(KEY_SHIELDS_UP)) {
-
108  if (level < 25) level = 25;
-
109  else if (level < 50) level = 50;
-
110  else if (level < 75) level = 75;
-
111  else level = 100;
-
112 
-
113  HUDSounds::PlaySound(HUDSounds::SND_SHIELD_LEVEL);
-
114  shield->SetPowerLevel(level);
-
115  time_til_change = 0.5f;
-
116  }
-
117 
-
118  else if (ShipCtrl::KeyDown(KEY_SHIELDS_DOWN)) {
-
119  if (level > 75) level = 75;
-
120  else if (level > 50) level = 50;
-
121  else if (level > 25) level = 25;
-
122  else level = 0;
-
123 
-
124  HUDSounds::PlaySound(HUDSounds::SND_SHIELD_LEVEL);
-
125  shield->SetPowerLevel(level);
-
126  time_til_change = 0.5f;
-
127  }
-
128 
-
129  }
-
130  }
-
131  else {
-
132  time_til_change -= seconds;
-
133  }
-
134 
-
135  if (ShipCtrl::Toggled(KEY_DECOY))
-
136  ship->FireDecoy();
-
137 
-
138  if (ShipCtrl::Toggled(KEY_LAUNCH_PROBE))
-
139  ship->LaunchProbe();
-
140 
-
141  if (ShipCtrl::Toggled(KEY_GEAR_TOGGLE))
-
142  ship->ToggleGear();
-
143 
-
144  if (ShipCtrl::Toggled(KEY_NAVLIGHT_TOGGLE))
-
145  ship->ToggleNavlights();
-
146 
-
147  if (drop_state < 0) {
-
148  ship->DropOrbit();
-
149  return;
-
150  }
-
151 
-
152  if (drop_state > 0) {
-
153  ship->MakeOrbit();
-
154  return;
-
155  }
-
156 }
-
157 
-
158 // +--------------------------------------------------------------------+
-
159 
-
160 void
-
161 NavAI::FindObjective()
-
162 {
-
163  navpt = 0;
-
164  distance = 0;
-
165 
-
166  // runway takeoff:
-
167  if (takeoff) {
-
168  obj_w = ship->Location() + ship->Heading() * 10e3;
-
169  obj_w.y = ship->Location().y + 2e3;
-
170 
-
171  // transform into camera coords:
-
172  objective = Transform(obj_w);
-
173  ship->SetDirectorInfo(Game::GetText("ai.takeoff"));
-
174  return;
-
175  }
-
176 
-
177  // PART I: Find next NavPoint:
-
178  if (ship->GetNavSystem())
-
179  navpt = ship->GetNextNavPoint();
-
180 
-
181  complete = !navpt;
-
182  if (complete) return;
-
183 
-
184  // PART II: Compute Objective from NavPoint:
-
185  Point npt = navpt->Location();
-
186  Sim* sim = Sim::GetSim();
-
187  SimRegion* self_rgn = ship->GetRegion();
-
188  SimRegion* nav_rgn = navpt->Region();
-
189 
-
190  if (self_rgn && !nav_rgn) {
-
191  nav_rgn = self_rgn;
-
192  navpt->SetRegion(nav_rgn);
-
193  }
-
194 
-
195  if (self_rgn == nav_rgn) {
-
196  if (farcaster) {
-
197  if (farcaster->GetShip()->GetRegion() != self_rgn)
-
198  farcaster = farcaster->GetDest()->GetFarcaster();
-
199 
-
200  obj_w = farcaster->EndPoint();
-
201  }
-
202 
-
203  else {
-
204  obj_w = npt.OtherHand();
-
205  }
-
206 
-
207  // distance from self to navpt:
-
208  distance = Point(obj_w - self->Location()).length();
-
209 
-
210  // transform into camera coords:
-
211  objective = Transform(obj_w);
-
212 
-
213  if (!ship->IsStarship())
-
214  objective.Normalize();
-
215 
-
216  if (farcaster && distance < 1000)
-
217  farcaster = 0;
-
218  }
-
219 
-
220  // PART III: Deal with orbital transitions:
-
221  else if (ship->IsDropship()) {
-
222  if (nav_rgn->GetOrbitalRegion()->Primary() ==
-
223  self_rgn->GetOrbitalRegion()->Primary()) {
-
224 
-
225  Point npt = nav_rgn->Location() - self_rgn->Location();
-
226  obj_w = npt.OtherHand();
-
227 
-
228  // distance from self to navpt:
-
229  distance = Point(obj_w - ship->Location()).length();
-
230 
-
231  // transform into camera coords:
-
232  objective = Transform(obj_w);
-
233 
-
234  if (nav_rgn->IsAirSpace()) {
-
235  drop_state = -1;
-
236  }
-
237  else if (nav_rgn->IsOrbital()) {
-
238  drop_state = 1;
-
239  }
-
240  }
-
241 
-
242  // PART IIIa: Deal with farcaster jumps:
-
243  else if (nav_rgn->IsOrbital() && self_rgn->IsOrbital()) {
-
244  ListIter<Ship> s = self_rgn->Ships();
-
245  while (++s && !farcaster) {
-
246  if (s->GetFarcaster()) {
-
247  const Ship* dest = s->GetFarcaster()->GetDest();
-
248  if (dest && dest->GetRegion() == nav_rgn) {
-
249  farcaster = s->GetFarcaster();
-
250  }
-
251  }
-
252  }
-
253 
-
254  if (farcaster) {
-
255  Point apt = farcaster->ApproachPoint(0);
-
256  Point npt = farcaster->StartPoint();
-
257  double r1 = (ship->Location() - npt).length();
-
258 
-
259  if (r1 > 50e3) {
-
260  obj_w = apt;
-
261  distance = r1;
-
262  objective = Transform(obj_w);
-
263  }
-
264 
-
265  else {
-
266  double r2 = (ship->Location() - apt).length();
-
267  double r3 = (npt - apt).length();
-
268 
-
269  if (r1+r2 < 1.2*r3) {
-
270  obj_w = npt;
-
271  distance = r1;
-
272  objective = Transform(obj_w);
-
273  }
-
274  else {
-
275  obj_w = apt;
-
276  distance = r2;
-
277  objective = Transform(obj_w);
-
278  }
-
279  }
-
280  }
-
281  }
-
282  }
-
283 
-
284  // PART IV: Deal with quantum jumps:
-
285  else if (ship->IsStarship()) {
-
286  quantum_state = 1;
-
287 
-
288  Point npt = nav_rgn->Location() + navpt->Location();
-
289  npt -= self_rgn->Location();
-
290  obj_w = npt.OtherHand();
-
291 
-
292  // distance from self to navpt:
-
293  distance = Point(obj_w - ship->Location()).length();
-
294 
-
295  // transform into camera coords:
-
296  objective = Transform(obj_w);
-
297  }
-
298 }
-
299 
-
300 // +--------------------------------------------------------------------+
-
301 
-
302 void
-
303 NavAI::Navigator()
-
304 {
-
305  accumulator.Clear();
-
306  magnitude = 0;
-
307  brakes = 0;
-
308  hold = false;
-
309 
-
310  if (navpt) {
-
311  if (navpt->Status() == Instruction::COMPLETE && navpt->HoldTime() > 0) {
-
312  ship->SetDirectorInfo(Game::GetText("ai.auto-hold"));
-
313  hold = true;
-
314  }
-
315  else {
-
316  ship->SetDirectorInfo(Game::GetText("ai.auto-nav"));
-
317  }
-
318  }
-
319  else {
-
320  ship->SetDirectorInfo(Game::GetText("ai.auto-stop"));
-
321  }
-
322 
-
323  Accumulate(AvoidTerrain());
-
324  Accumulate(AvoidCollision());
-
325 
-
326  if (!hold)
-
327  accumulator = SeekTarget();
-
328 
-
329  HelmControl();
-
330  ThrottleControl();
-
331 }
-
332 
-
333 // +--------------------------------------------------------------------+
-
334 
-
335 void
-
336 NavAI::HelmControl()
-
337 {
-
338  // ----------------------------------------------------------
-
339  // STARSHIP HELM MODE
-
340  // ----------------------------------------------------------
-
341 
-
342  if (ship->IsStarship()) {
-
343  ship->SetFLCSMode(Ship::FLCS_HELM);
-
344  ship->SetHelmHeading(accumulator.yaw);
-
345 
-
346  if (accumulator.pitch > 45*DEGREES)
-
347  ship->SetHelmPitch(45*DEGREES);
-
348 
-
349  else if (accumulator.pitch < -45*DEGREES)
-
350  ship->SetHelmPitch(-45*DEGREES);
-
351 
-
352  else
-
353  ship->SetHelmPitch(accumulator.pitch);
-
354  }
-
355 
-
356  // ----------------------------------------------------------
-
357  // FIGHTER FLCS AUTO MODE
-
358  // ----------------------------------------------------------
-
359 
-
360  else {
-
361  ship->SetFLCSMode(Ship::FLCS_AUTO);
-
362 
-
363  // are we being asked to flee?
-
364  if (fabs(accumulator.yaw) == 1.0 && accumulator.pitch == 0.0) {
-
365  accumulator.pitch = -0.7f;
-
366  accumulator.yaw *= 0.25f;
-
367  }
-
368 
-
369  self->ApplyRoll((float) (accumulator.yaw * -0.4));
-
370  self->ApplyYaw((float) (accumulator.yaw * 0.2));
-
371 
-
372  if (fabs(accumulator.yaw) > 0.5 && fabs(accumulator.pitch) < 0.1)
-
373  accumulator.pitch -= 0.1f;
-
374 
-
375  if (accumulator.pitch != 0)
-
376  self->ApplyPitch((float) accumulator.pitch);
-
377 
-
378  // if not turning, roll to orient with world coords:
-
379  if (fabs(accumulator.yaw) < 0.1) {
-
380  Point vrt = ((Camera*) &(self->Cam()))->vrt();
-
381  double deflection = vrt.y;
-
382  if (deflection != 0) {
-
383  double theta = asin(deflection/vrt.length());
-
384  self->ApplyRoll(-theta);
-
385  }
-
386  }
-
387 
-
388  if (!ship->IsAirborne() || ship->AltitudeAGL() > 100)
-
389  ship->RaiseGear();
-
390  }
-
391 
-
392  ship->SetTransX(0);
-
393  ship->SetTransY(0);
-
394  ship->SetTransZ(0);
-
395  ship->ExecFLCSFrame();
-
396 }
-
397 
-
398 // +--------------------------------------------------------------------+
-
399 
-
400 void
-
401 NavAI::ThrottleControl()
-
402 {
-
403  double ship_speed = ship->Velocity() * ship->Heading();
-
404  bool augmenter = false;
-
405 
-
406  if (hold) {
-
407  throttle = 0;
-
408  brakes = 1;
-
409  }
-
410 
-
411  else if (navpt) {
-
412  double speed = navpt->Speed();
-
413 
-
414  if (speed < 10)
-
415  speed = 250;
-
416 
-
417  throttle = 0;
-
418 
-
419  if (Ship::GetFlightModel() > 0) {
-
420  if (ship_speed > speed + 10)
-
421  throttle = old_throttle - 0.25;
-
422 
-
423  else if (ship_speed < speed - 10)
-
424  throttle = old_throttle + 0.25;
-
425 
-
426  else
-
427  throttle = old_throttle;
-
428  }
-
429 
-
430  else {
-
431  if (ship_speed > speed+5)
-
432  brakes = 0.25;
-
433 
-
434  else if (ship_speed < speed-5)
-
435  throttle = 50;
-
436  }
-
437  }
-
438  else {
-
439  throttle = 0;
-
440  brakes = 0.25;
-
441  }
-
442 
-
443  if (ship->IsAirborne() && ship->Class() < Ship::LCA) {
-
444  if (ship_speed < 250) {
-
445  throttle = 100;
-
446  brakes = 0;
-
447 
-
448  if (ship_speed < 200)
-
449  augmenter = true;
-
450  }
-
451 
-
452  else if (throttle < 20) {
-
453  throttle = 20;
-
454  }
-
455  }
-
456 
-
457  old_throttle = throttle;
-
458  ship->SetThrottle(throttle);
-
459  ship->SetAugmenter(augmenter);
-
460 
-
461  if (ship_speed > 1 && brakes > 0)
-
462  ship->SetTransY(-brakes * ship->Design()->trans_y);
-
463 }
-
464 
-
465 // +--------------------------------------------------------------------+
-
466 
-
467 Steer
-
468 NavAI::SeekTarget()
-
469 {
-
470  if (!ship)
-
471  return Steer();
-
472 
-
473  if (takeoff)
-
474  return Seek(objective);
-
475 
-
476  if (navpt) {
-
477  if (quantum_state == 1) {
-
478  QuantumDrive* q = ship->GetQuantumDrive();
-
479 
-
480  if (q) {
-
481  if (q->ActiveState() == QuantumDrive::ACTIVE_READY) {
-
482  q->SetDestination(navpt->Region(), navpt->Location());
-
483  q->Engage();
-
484  }
-
485 
-
486  else if (q->ActiveState() == QuantumDrive::ACTIVE_POSTWARP) {
-
487  quantum_state = 0;
-
488  }
-
489  }
-
490  }
-
491 
-
492  if (distance < 2 * self->Radius()) {
-
493  ship->SetNavptStatus(navpt, Instruction::COMPLETE);
-
494 
-
495  return Steer();
-
496  }
-
497  else {
-
498  return Seek(objective);
-
499  }
-
500  }
-
501 
-
502  return Steer();
-
503 }
-
504 
-
505 // +--------------------------------------------------------------------+
-
506 
-
507 void
-
508 NavAI::Disengage()
-
509 {
-
510  throttle = 0;
-
511 }
-
512 
-
513 // +--------------------------------------------------------------------+
-
514 
-
515 Point
-
516 NavAI::Transform(const Point& point)
-
517 {
-
518  if (ship && ship->IsStarship())
-
519  return point - self->Location();
-
520 
-
521  return SteerAI::Transform(point);
-
522 }
-
523 
-
524 Steer
-
525 NavAI::Seek(const Point& point)
-
526 {
-
527  // if ship is starship, the point is in relative world coordinates
-
528  // x: distance east(-) / west(+)
-
529  // y: altitude down(-) / up(+)
-
530  // z: distance north(-) / south(+)
-
531 
-
532  if (ship && ship->IsStarship()) {
-
533  Steer result;
-
534 
-
535  result.yaw = atan2(point.x, point.z) + PI;
-
536 
-
537  double adjacent = sqrt(point.x * point.x + point.z * point.z);
-
538  if (fabs(point.y) > ship->Radius() && adjacent > ship->Radius())
-
539  result.pitch = atan(point.y / adjacent);
-
540 
-
541  if (_isnan(result.yaw))
-
542  result.yaw = 0;
-
543 
-
544  if (_isnan(result.pitch))
-
545  result.pitch = 0;
-
546 
-
547  return result;
-
548  }
-
549 
-
550  return SteerAI::Seek(point);
-
551 }
-
552 
-
553 Steer
-
554 NavAI::Flee(const Point& point)
-
555 {
-
556  if (ship && ship->IsStarship()) {
-
557  Steer result = Seek(point);
-
558  result.yaw += PI;
-
559  result.pitch *= -1;
-
560  return result;
-
561  }
-
562 
-
563  return SteerAI::Flee(point);
-
564 }
-
565 
-
566 Steer
-
567 NavAI::Avoid(const Point& point, float radius)
-
568 {
-
569  if (ship && ship->IsStarship()) {
-
570  Steer result = Seek(point);
-
571 
-
572  if (point * ship->BeamLine() > 0)
-
573  result.yaw -= PI/2;
-
574  else
-
575  result.yaw += PI/2;
-
576 
-
577  return result;
-
578  }
-
579 
-
580  return SteerAI::Avoid(point, radius);
-
581 }
-
582 
-
583 // +--------------------------------------------------------------------+
-
584 
-
585 Steer
-
586 NavAI::AvoidTerrain()
-
587 {
-
588  Steer avoid;
-
589 
-
590  terrain_warning = false;
-
591 
-
592  if (!ship || !ship->GetRegion() || !ship->GetRegion()->IsActive() ||
-
593  takeoff || (navpt && navpt->Action() == Instruction::LAUNCH))
-
594  return avoid;
-
595 
-
596  if (ship->IsAirborne() && ship->GetFlightPhase() == Ship::ACTIVE) {
-
597  // too low?
-
598  if (ship->AltitudeAGL() < 1000) {
-
599  terrain_warning = true;
-
600  ship->SetDirectorInfo(Game::GetText("ai.too-low"));
-
601 
-
602  // way too low?
-
603  if (ship->AltitudeAGL() < 750) {
-
604  ship->SetDirectorInfo(Game::GetText("ai.way-too-low"));
-
605  }
-
606 
-
607  // where will we be?
-
608  Point selfpt = ship->Location() + ship->Velocity() + Point(0, 10e3, 0);
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609 
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610  // transform into camera coords:
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611  Point obj = Transform(selfpt);
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612 
-
613  // pull up!
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614  avoid = Seek(obj);
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615  }
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616  }
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617 
-
618  return avoid;
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619 }
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620 
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621 
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622 
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