/*  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:         StarshipAI.cpp
    AUTHOR:       John DiCamillo


    OVERVIEW
    ========
    Starship (low-level) Artificial Intelligence class
*/

#include "MemDebug.h"
#include "StarshipAI.h"
#include "StarshipTacticalAI.h"
#include "Ship.h"
#include "ShipDesign.h"
#include "Element.h"
#include "Mission.h"
#include "Instruction.h"
#include "RadioMessage.h"
#include "Contact.h"
#include "WeaponGroup.h"
#include "Drive.h"
#include "Sim.h"
#include "StarSystem.h"
#include "FlightComp.h"
#include "Farcaster.h"
#include "QuantumDrive.h"

#include "Game.h"
#include "Random.h"

// +----------------------------------------------------------------------+

StarshipAI::StarshipAI(SimObject* s)
: ShipAI(s), sub_select_time(0), subtarget(0), tgt_point_defense(false)
{
    ai_type = STARSHIP;

    // signifies this ship is a dead hulk:
    if (ship && ship->Design()->auto_roll < 0) {
        Point torque(rand()-16000, rand()-16000, rand()-16000);
        torque.Normalize();
        torque *= ship->Mass() / 10;

        ship->SetFLCSMode(0);
        if (ship->GetFLCS())
        ship->GetFLCS()->PowerOff();

        ship->ApplyTorque(torque);
        ship->SetVelocity(RandomDirection() * Random(20, 50));

        for (int i = 0; i < 64; i++) {
            Weapon* w = ship->GetWeaponByIndex(i+1);
            if (w)
            w->DrainPower(0);
            else
            break;
        }
    }

    else {
        tactical = new(__FILE__,__LINE__) StarshipTacticalAI(this);
    }

    sub_select_time      = Game::GameTime() + (DWORD) Random(0, 2000);
    point_defense_time   = sub_select_time;
}


// +--------------------------------------------------------------------+

StarshipAI::~StarshipAI()
{ }

// +--------------------------------------------------------------------+

void
StarshipAI::FindObjective()
{
    distance = 0;

    int   order = ship->GetRadioOrders()->Action();

    if (order == RadioMessage::QUANTUM_TO ||
            order == RadioMessage::FARCAST_TO) {

        FindObjectiveQuantum();
        objective = Transform(obj_w);
        return;
    }

    bool  hold  = order == RadioMessage::WEP_HOLD ||
    order == RadioMessage::FORM_UP;

    bool  form  = hold                  || 
    (!order && !target)   || 
    (farcaster);

    // if not the element leader, stay in formation:
    if (form && element_index > 1) {
        ship->SetDirectorInfo(Game::GetText("ai.formation"));

        if (navpt && navpt->Action() == Instruction::LAUNCH) {
            FindObjectiveNavPoint();
        }
        else {
            navpt = 0;
            FindObjectiveFormation();
        }

        // transform into camera coords:
        objective = Transform(obj_w);
        return;
    }

    // under orders?
    bool   directed      = false;
    double threat_level  = 0;
    double support_level = 1;
    Ship*  ward          = ship->GetWard();

    if (tactical) {
        directed      = (tactical->RulesOfEngagement() == TacticalAI::DIRECTED);
        threat_level  = tactical->ThreatLevel();
        support_level = tactical->SupportLevel();
    }

    // threat processing:
    if (hold || !directed && threat_level >= 2*support_level) {

        // seek support:
        if (support) {
            double d_support = Point(support->Location() - ship->Location()).length();
            if (d_support > 35e3) {
                ship->SetDirectorInfo(Game::GetText("ai.regroup"));
                FindObjectiveTarget(support);
                objective = Transform(obj_w);
                return;
            }
        }

        // run away:
        else if (threat && threat != target) {
            ship->SetDirectorInfo(Game::GetText("ai.retreat"));
            obj_w = ship->Location() + Point(ship->Location() - threat->Location()) * 100;
            objective = Transform(obj_w);
            return;
        }
    }

    // weapons hold:
    if (hold) {
        if (navpt) {
            ship->SetDirectorInfo(Game::GetText("ai.seek-navpt"));
            FindObjectiveNavPoint();
        }

        else if (patrol) {
            ship->SetDirectorInfo(Game::GetText("ai.patrol"));
            FindObjectivePatrol();
        }

        else {
            ship->SetDirectorInfo(Game::GetText("ai.holding"));
            objective = Point();
        }
    }

    // normal processing:
    else if (target) {
        ship->SetDirectorInfo(Game::GetText("ai.seek-target"));
        FindObjectiveTarget(target);
    }

    else if (patrol) {
        ship->SetDirectorInfo(Game::GetText("ai.patrol"));
        FindObjectivePatrol();
    }

    else if (ward) {
        ship->SetDirectorInfo(Game::GetText("ai.seek-ward"));
        FindObjectiveFormation();
    }

    else if (navpt) {
        ship->SetDirectorInfo(Game::GetText("ai.seek-navpt"));
        FindObjectiveNavPoint();
    }

    else if (rumor) {
        ship->SetDirectorInfo(Game::GetText("ai.search"));
        FindObjectiveTarget(rumor);
    }

    else {
        objective = Point();
    }

    // transform into camera coords:
    objective = Transform(obj_w);
}

// +--------------------------------------------------------------------+

void
StarshipAI::Navigator()
{
    // signifies this ship is a dead hulk:
    if (ship && ship->Design()->auto_roll < 0) {
        ship->SetDirectorInfo(Game::GetText("ai.dead"));
        return;
    }

    accumulator.Clear();
    magnitude = 0;

    hold = false;
    if ((ship->GetElement() && ship->GetElement()->GetHoldTime() > 0) || 
            (navpt && navpt->Status() == Instruction::COMPLETE && navpt->HoldTime() > 0))
    hold = true;

    ship->SetFLCSMode(Ship::FLCS_HELM);

    if (!ship->GetDirectorInfo()) {
        if (target)
        ship->SetDirectorInfo(Game::GetText("ai.seek-target"));
        else if (ship->GetWard())
        ship->SetDirectorInfo(Game::GetText("ai.seek-ward"));
        else
        ship->SetDirectorInfo(Game::GetText("ai.patrol"));
    }

    if (farcaster && distance < 25e3) {
        accumulator = SeekTarget();
    }
    else {
        accumulator = AvoidCollision();

        if (!other && !hold)
        accumulator = SeekTarget();
    }

    HelmControl();
    ThrottleControl();
    FireControl();
    AdjustDefenses();
}

// +--------------------------------------------------------------------+

void
StarshipAI::HelmControl()
{
    // signifies this ship is a dead hulk:
    if (ship && ship->Design()->auto_roll < 0) {
        return;
    }

    double trans_x          = 0;
    double trans_y          = 0;
    double trans_z          = 0;

    bool   station_keeping  = distance < 0;

    if (station_keeping) {
        accumulator.brake = 1;
        accumulator.stop  = 1;

        ship->SetHelmPitch(0);
    }

    else {
        Element* elem = ship->GetElement();

        Ship* ward     = ship->GetWard();
        Ship* s_threat = 0;
        if (threat && threat->Class() >= ship->Class())
        s_threat = threat;

        if (other || target || ward || s_threat || navpt || patrol || farcaster || element_index > 1) {
            ship->SetHelmHeading(accumulator.yaw);

            if (elem->Type() == Mission::FLIGHT_OPS) {
                ship->SetHelmPitch(0);

                if (ship->NumInbound() > 0) {
                    ship->SetHelmHeading(ship->CompassHeading());
                }
            }

            else if (accumulator.pitch > 60*DEGREES) {
                ship->SetHelmPitch(60*DEGREES);
            }

            else if (accumulator.pitch < -60*DEGREES) {
                ship->SetHelmPitch(-60*DEGREES);
            }

            else {
                ship->SetHelmPitch(accumulator.pitch);
            }

        }
        else {
            ship->SetHelmPitch(0);
        }
    }

    ship->SetTransX(trans_x);
    ship->SetTransY(trans_y);
    ship->SetTransZ(trans_z);

    ship->ExecFLCSFrame();
}

void
StarshipAI::ThrottleControl()
{
    // signifies this ship is a dead hulk:
    if (ship && ship->Design()->auto_roll < 0) {
        return;
    }

    // station keeping:

    if (distance < 0) {
        old_throttle = 0;
        throttle     = 0;

        ship->SetThrottle(0);

        if (ship->GetFLCS())
        ship->GetFLCS()->FullStop();

        return;
    }

    // normal throttle processing:

    double   ship_speed  = ship->Velocity() * ship->Heading();
    double   brakes      = 0;
    Ship*    ward        = ship->GetWard();
    Ship*    s_threat    = 0;

    if (threat && threat->Class() >= ship->Class())
    s_threat = threat;

    if (target || s_threat) {  // target pursuit, or retreat
        throttle = 100;

        if (target && distance < 50e3) {
            double closing_speed = ship_speed;

            if (target) {
                Point delta = target->Location() - ship->Location();
                delta.Normalize();

                closing_speed = ship->Velocity() * delta;
            }

            if (closing_speed > 300) {
                throttle = 30;
                brakes   = 0.25;
            }
        }

        throttle *= (1 - accumulator.brake);

        if (throttle < 1 && ship->GetFLCS() != 0)
        ship->GetFLCS()->FullStop();
    }

    else if (ward) {           // escort, match speed of ward
        double speed = ward->Velocity().length();
        throttle = old_throttle;

        if (speed == 0) {
            double d = (ship->Location() - ward->Location()).length();

            if (d > 30e3)
            speed = (d - 30e3) / 100;
        }

        if (speed > 0) {
            if (ship_speed > speed) {
                throttle = old_throttle - 1;
                brakes   = 0.2;
            }
            else if (ship_speed < speed - 10) {
                throttle =  old_throttle + 1;
            }
        }
        else {
            throttle = 0;
            brakes   = 0.5;
        }
    }

    else if (patrol || farcaster) {  // seek patrol point
        throttle = 100;

        if (distance < 10 * ship_speed) {
            if (ship->Velocity().length() > 200)
            throttle = 5;
            else
            throttle = 50;
        }
    }

    else if (navpt) {          // lead only, get speed from navpt
        double speed = navpt->Speed();
        throttle = old_throttle;

        if (hold) {
            throttle = 0;
            brakes   = 1;
        }

        else {
            if (speed <= 0)
            speed = 300;

            if (ship_speed > speed) {
                if (throttle > 0 && old_throttle > 1)
                throttle = old_throttle - 1;

                brakes   = 0.25;
            }
            else if (ship_speed < speed - 10) {
                throttle =  old_throttle + 1;
            }
        }
    }

    else if (element_index > 1) { // wingman
        Ship*  lead = ship->GetElement()->GetShip(1);
        double lv = lead->Velocity().length();
        double sv = ship_speed;
        double dv = lv-sv;
        double dt = 0;

        if (dv > 0)       dt = dv * 1e-2 * seconds;
        else if (dv < 0)  dt = dv * 1e-2 * seconds;

        throttle = old_throttle + dt;
    }

    else {
        throttle = 0;
    }

    old_throttle = throttle;
    ship->SetThrottle(throttle);

    if (ship_speed > 1 && brakes > 0)
    ship->SetTransY(-brakes * ship->Design()->trans_y);

    else if (throttle > 10 && (ship->GetEMCON() < 2 || ship->GetFuelLevel() < 10))
    ship->SetTransY(ship->Design()->trans_y);
}

// +--------------------------------------------------------------------+

Steer
StarshipAI::SeekTarget()
{
    if (navpt) {
        SimRegion*     self_rgn = ship->GetRegion();
        SimRegion*     nav_rgn  = navpt->Region();
        QuantumDrive*  qdrive   = ship->GetQuantumDrive();

        if (self_rgn && !nav_rgn) {
            nav_rgn = self_rgn;
            navpt->SetRegion(nav_rgn);
        }

        bool use_farcaster      = self_rgn != nav_rgn && 
        (navpt->Farcast() || 
        !qdrive ||
        !qdrive->IsPowerOn() ||
        qdrive->Status() < System::DEGRADED
        );

        if (use_farcaster) {
            if (!farcaster) {
                ListIter<Ship> 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) {
                if (farcaster->GetShip()->GetRegion() != self_rgn)
                farcaster = farcaster->GetDest()->GetFarcaster();

                obj_w = farcaster->EndPoint();
                distance = Point(obj_w - ship->Location()).length();

                if (distance < 1000)
                farcaster = 0;
            }
        }
        else if (self_rgn != nav_rgn) {
            QuantumDrive* q = ship->GetQuantumDrive();

            if (q) {
                if (q->ActiveState() == QuantumDrive::ACTIVE_READY) {
                    q->SetDestination(navpt->Region(), navpt->Location());
                    q->Engage();
                }
            }
        }
    }

    return ShipAI::SeekTarget();
}

// +--------------------------------------------------------------------+

Steer
StarshipAI::AvoidCollision()
{
    if (!ship || ship->Velocity().length() < 25)
    return Steer();

    return ShipAI::AvoidCollision();
}

// +--------------------------------------------------------------------+

void
StarshipAI::FireControl()
{
    // identify unknown contacts:
    if (identify) {
        if (fabs(ship->GetHelmHeading() - ship->CompassHeading()) < 10*DEGREES) {
            Contact* contact = ship->FindContact(target);

            if (contact && !contact->ActLock()) {
                if (!ship->GetProbe()) {
                    ship->LaunchProbe();
                }
            }
        }

        return;
    }

    // investigate last known location of enemy ship:
    if (rumor && !target && ship->GetProbeLauncher() && !ship->GetProbe()) {
        // is rumor in basket?
        Point rmr = Transform(rumor->Location());
        rmr.Normalize();

        double dx = fabs(rmr.x);
        double dy = fabs(rmr.y);

        if (dx < 10*DEGREES && dy < 10*DEGREES && rmr.z > 0) {
            ship->LaunchProbe();
        }
    }

    // Corvettes and Frigates are anti-air platforms.  They need to
    // target missile threats even when the threat is aimed at another
    // friendly ship.  Forward facing weapons must be on auto fire,
    // while lateral and aft facing weapons are set to point defense.

    if (ship->Class() == Ship::CORVETTE || ship->Class() == Ship::FRIGATE) {
        ListIter<WeaponGroup> iter = ship->Weapons();
        while (++iter) {
            WeaponGroup* group = iter.value();

            ListIter<Weapon> w_iter = group->GetWeapons();
            while (++w_iter) {
                Weapon* weapon = w_iter.value();

                double az = weapon->GetAzimuth();
                if (fabs(az) < 45*DEGREES) {
                    weapon->SetFiringOrders(Weapon::AUTO);
                    weapon->SetTarget(target, 0);
                }

                else {
                    weapon->SetFiringOrders(Weapon::POINT_DEFENSE);
                }
            }
        }
    }

    // All other starships are free to engage ship targets.  Weapon
    // fire control is managed by the type of weapon.

    else {
        System* subtgt = SelectSubtarget();

        ListIter<WeaponGroup> iter = ship->Weapons();
        while (++iter) {
            WeaponGroup* weapon = iter.value();

            if (weapon->GetDesign()->target_type & Ship::DROPSHIPS) {   // anti-air weapon?
                weapon->SetFiringOrders(Weapon::POINT_DEFENSE);
            }
            else if (weapon->IsDrone()) {                               // torpedoes
                weapon->SetFiringOrders(Weapon::MANUAL);
                weapon->SetTarget(target, 0);

                if (target && target->GetRegion() == ship->GetRegion()) {
                    Point  delta = target->Location() - ship->Location();
                    double range = delta.length();

                    if (range < weapon->GetDesign()->max_range * 0.9 && 
                            !AssessTargetPointDefense())
                    weapon->SetFiringOrders(Weapon::AUTO);

                    else if (range < weapon->GetDesign()->max_range * 0.5)
                    weapon->SetFiringOrders(Weapon::AUTO);
                }
            }
            else {                                                      // anti-ship weapon
                weapon->SetFiringOrders(Weapon::AUTO);
                weapon->SetTarget(target, subtgt);
                weapon->SetSweep(subtgt ? Weapon::SWEEP_NONE : Weapon::SWEEP_TIGHT);
            }
        }
    }
}

// +--------------------------------------------------------------------+

System*
StarshipAI::SelectSubtarget()
{
    if (Game::GameTime() - sub_select_time < 2345)
    return subtarget;

    subtarget = 0;

    if (!target || target->Type() != SimObject::SIM_SHIP || GetAILevel() < 1)
    return subtarget;

    Ship* tgt_ship = (Ship*) target;

    if (!tgt_ship->IsStarship())
    return subtarget;

    Weapon*  subtgt = 0;
    double   dist   = 50e3;
    Point    svec   = ship->Location() - tgt_ship->Location();

    sub_select_time = Game::GameTime();

    // first pass: turrets
    ListIter<WeaponGroup> g_iter = tgt_ship->Weapons();
    while (++g_iter) {
        WeaponGroup* g = g_iter.value();

        if (g->GetDesign() && g->GetDesign()->turret_model) {
            ListIter<Weapon> w_iter = g->GetWeapons();
            while (++w_iter) {
                Weapon*  w     = w_iter.value();

                if (w->Availability() < 35)
                continue;

                if (w->GetAimVector() * svec < 0)
                continue;

                if (w->GetTurret()) {
                    Point    tloc  = w->GetTurret()->Location();
                    Point    delta = tloc - ship->Location();
                    double   dlen  = delta.length();

                    if (dlen < dist) {
                        subtgt = w;
                        dist   = dlen;
                    }
                }
            }
        }
    }

    // second pass: major weapons
    if (!subtgt) {
        g_iter.reset();
        while (++g_iter) {
            WeaponGroup* g = g_iter.value();

            if (g->GetDesign() && !g->GetDesign()->turret_model) {
                ListIter<Weapon> w_iter = g->GetWeapons();
                while (++w_iter) {
                    Weapon*  w     = w_iter.value();

                    if (w->Availability() < 35)
                    continue;

                    if (w->GetAimVector() * svec < 0)
                    continue;

                    Point    tloc  = w->MountLocation();
                    Point    delta = tloc - ship->Location();
                    double   dlen  = delta.length();

                    if (dlen < dist) {
                        subtgt = w;
                        dist   = dlen;
                    }
                }
            }
        }
    }

    subtarget = subtgt;
    return subtarget;
}

// +--------------------------------------------------------------------+

bool
StarshipAI::AssessTargetPointDefense()
{
    if (Game::GameTime() - point_defense_time < 3500)
    return tgt_point_defense;

    tgt_point_defense = false;

    if (!target || target->Type() != SimObject::SIM_SHIP || GetAILevel() < 2)
    return tgt_point_defense;

    Ship* tgt_ship = (Ship*) target;

    if (!tgt_ship->IsStarship())
    return tgt_point_defense;

    Weapon*  subtgt = 0;
    Point    svec   = ship->Location() - tgt_ship->Location();

    point_defense_time = Game::GameTime();

    // first pass: turrets
    ListIter<WeaponGroup> g_iter = tgt_ship->Weapons();
    while (++g_iter && !tgt_point_defense) {
        WeaponGroup* g = g_iter.value();

        if (g->CanTarget(1)) {
            ListIter<Weapon> w_iter = g->GetWeapons();
            while (++w_iter && !tgt_point_defense) {
                Weapon* w = w_iter.value();

                if (w->Availability() > 35 && w->GetAimVector() * svec > 0)
                tgt_point_defense = true;
            }
        }
    }

    return tgt_point_defense;
}


// +--------------------------------------------------------------------+

Point
StarshipAI::Transform(const Point& point)
{
    return point - self->Location();
}

Steer
StarshipAI::Seek(const Point& point)
{
    // the point is in relative world coordinates
    //   x: distance east(-)  / west(+)
    //   y: altitude down(-)  / up(+)
    //   z: distance north(-) / south(+)

    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 (!_finite(result.yaw))
    result.yaw = 0;

    if (!_finite(result.pitch))
    result.pitch = 0;

    return result;
}

Steer
StarshipAI::Flee(const Point& point)
{
    Steer result = Seek(point);
    result.yaw += PI;
    return result;
}

Steer
StarshipAI::Avoid(const Point& point, float radius)
{
    Steer result = Seek(point);

    if (point * ship->BeamLine() > 0)
    result.yaw -= PI/2;
    else
    result.yaw += PI/2;

    return result;
}