path: root/Stars45/SteerAI.cpp

/*  Starshatter: The Open Source Project
    Copyright (c) 2021-2022, Starshatter: The Open Source Project Contributors
    Copyright (c) 2011-2012, Starshatter OpenSource Distribution Contributors
    Copyright (c) 1997-2006, Destroyer Studios LLC.

    AUTHOR:       John DiCamillo


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

#include "SteerAI.h"
#include "SeekerAI.h"
#include "FighterAI.h"
#include "StarshipAI.h"
#include "GroundAI.h"
#include "System.h"

#include "Clock.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<s.brake)?brake:s.brake);
}

Steer  Steer::operator*(double f)       const
{
    return Steer(yaw*f, pitch*f, roll*f, brake);
}

Steer  Steer::operator/(double f)       const
{
    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;
}

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 SeekerAI(self);
        break;

    case STARSHIP: return new StarshipAI(self);
        break;

    case GROUND:   return new GroundAI(self);
        break;

    default:
    case FIGHTER:  return new 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 (Clock::GetInstance()->GameTime() - evade_time > 1250) {
        evade_time = Clock::GetInstance()->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;
}