From d17521c8b9085a91d08fecfd0b51bbbf7b1dccac Mon Sep 17 00:00:00 2001 From: "milo24x7@gmail.com" Date: Sun, 7 Jul 2013 22:08:49 +0000 Subject: Updated open source license declaration and fixed some formatting issues. --- Stars45/NavAI.cpp | 1268 +++++++++++++++++++++++++++-------------------------- 1 file changed, 646 insertions(+), 622 deletions(-) (limited to 'Stars45/NavAI.cpp') diff --git a/Stars45/NavAI.cpp b/Stars45/NavAI.cpp index a6b53cc..6470a41 100644 --- a/Stars45/NavAI.cpp +++ b/Stars45/NavAI.cpp @@ -1,622 +1,646 @@ -/* Project Starshatter 5.0 - Destroyer Studios LLC - Copyright © 1997-2007. All Rights Reserved. - - SUBSYSTEM: Stars.exe - FILE: NavAI.cpp - AUTHOR: John DiCamillo - - - OVERVIEW - ======== - Automatic Navigator Artificial Intelligence class -*/ - -#include "MemDebug.h" -#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" - -// +----------------------------------------------------------------------+ - -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(Game::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 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(Game::GetText("ai.auto-hold")); - hold = true; - } - else { - ship->SetDirectorInfo(Game::GetText("ai.auto-nav")); - } - } - else { - ship->SetDirectorInfo(Game::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(Game::GetText("ai.too-low")); - - // way too low? - if (ship->AltitudeAGL() < 750) { - ship->SetDirectorInfo(Game::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; -} - - - +/* Starshatter OpenSource Distribution + Copyright (c) 1997-2004, Destroyer Studios LLC. + All Rights Reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + * Neither the name "Destroyer Studios" nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. + + SUBSYSTEM: Stars.exe + FILE: NavAI.cpp + AUTHOR: John DiCamillo + + + OVERVIEW + ======== + Automatic Navigator Artificial Intelligence class +*/ + +#include "MemDebug.h" +#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" + +// +----------------------------------------------------------------------+ + +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(Game::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 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(Game::GetText("ai.auto-hold")); + hold = true; + } + else { + ship->SetDirectorInfo(Game::GetText("ai.auto-nav")); + } + } + else { + ship->SetDirectorInfo(Game::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(Game::GetText("ai.too-low")); + + // way too low? + if (ship->AltitudeAGL() < 750) { + ship->SetDirectorInfo(Game::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; +} + + + -- cgit v1.1