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/SteerAI.cpp | 930 +++++++++++++++++++++++++++------------------------- 1 file changed, 477 insertions(+), 453 deletions(-) (limited to 'Stars45/SteerAI.cpp') diff --git a/Stars45/SteerAI.cpp b/Stars45/SteerAI.cpp index 6d8b88e..8c17908 100644 --- a/Stars45/SteerAI.cpp +++ b/Stars45/SteerAI.cpp @@ -1,453 +1,477 @@ -/* Project Starshatter 4.5 - Destroyer Studios LLC - Copyright © 1997-2004. All Rights Reserved. - - SUBSYSTEM: Stars.exe - FILE: SteerAI.cpp - AUTHOR: John DiCamillo - - - OVERVIEW - ======== - Steering (low-level) Artificial Intelligence class -*/ - -#include "MemDebug.h" -#include "SteerAI.h" -#include "SeekerAI.h" -#include "FighterAI.h" -#include "StarshipAI.h" -#include "GroundAI.h" -#include "System.h" - -#include "Game.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 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(__FILE__,__LINE__) SeekerAI(self); - break; - - case STARSHIP: return new(__FILE__,__LINE__) StarshipAI(self); - break; - - case GROUND: return new(__FILE__,__LINE__) GroundAI(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) -{ - 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 (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; -} - +/* 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: SteerAI.cpp + AUTHOR: John DiCamillo + + + OVERVIEW + ======== + Steering (low-level) Artificial Intelligence class +*/ + +#include "MemDebug.h" +#include "SteerAI.h" +#include "SeekerAI.h" +#include "FighterAI.h" +#include "StarshipAI.h" +#include "GroundAI.h" +#include "System.h" + +#include "Game.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 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(__FILE__,__LINE__) SeekerAI(self); + break; + + case STARSHIP: return new(__FILE__,__LINE__) StarshipAI(self); + break; + + case GROUND: return new(__FILE__,__LINE__) GroundAI(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) +{ + 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 (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; +} + -- cgit v1.1