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/* Starshatter: The Open Source Project
Copyright (c) 2021-2024, 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) Artifical Intelligence class
*/
#pragma once
#include "Director.h"
#include "Geometry.h"
#include "SimObject.h"
// +--------------------------------------------------------------------+
class System;
// +--------------------------------------------------------------------+
struct Steer
{
Steer() : yaw(0), pitch(0), roll(0), brake(0), stop(0) { }
Steer(double y, double p, double r, double b=0) : yaw(y), pitch(p), roll(r), brake(b), stop(0) { }
Steer(const Steer& s) : yaw(s.yaw), pitch(s.pitch), roll(s.roll), brake(s.brake), stop(s.stop) { }
Steer& operator = (const Steer& s) { yaw=s.yaw; pitch=s.pitch; roll=s.roll; brake = s.brake; stop = s.stop; return *this; }
Steer operator+(const Steer& s) const;
Steer operator-(const Steer& s) const;
Steer operator*(double f) const;
Steer operator/(double f) const;
Steer& operator+=(const Steer& s);
Steer& operator-=(const Steer& s);
double Magnitude() const;
void Clear() { yaw=0; pitch=0; roll=0; brake=0; stop=0; }
double yaw, pitch, roll;
double brake;
int stop;
};
// +--------------------------------------------------------------------+
class SteerAI : public Director, public SimObserver
{
public:
enum Type { SEEKER = 1000, FIGHTER, STARSHIP, GROUND };
SteerAI(SimObject* self);
virtual ~SteerAI();
static Director* Create(SimObject*, int type);
virtual void SetTarget(SimObject* targ, System* sub=0);
virtual SimObject* GetTarget() const { return target; }
virtual System* GetSubTarget() const { return subtarget; }
virtual void DropTarget(double drop_time=1.5);
virtual int Type() const { return ai_type; }
virtual bool Update(SimObject* obj);
virtual const char* GetObserverName() const;
// debug:
virtual Point GetObjective() const { return obj_w; }
virtual SimObject* GetOther() const { return other; }
protected:
// accumulate behaviors:
virtual void Navigator();
virtual int Accumulate(const Steer& steer);
// steering functions:
virtual Steer Seek(const Point& point);
virtual Steer Flee(const Point& point);
virtual Steer Avoid(const Point& point, float radius);
virtual Steer Evade(const Point& point, const Point& vel);
// compute the goal point based on target stats:
virtual void FindObjective();
virtual Point ClosingVelocity();
virtual Point Transform(const Point& pt);
virtual Point AimTransform(const Point& pt);
int seeking;
SimObject* self;
SimObject* target;
System* subtarget;
SimObject* other;
Point obj_w;
Point objective;
double distance;
double az[3], el[3];
Steer accumulator;
double magnitude;
std::uint32_t evade_time;
double seek_gain;
double seek_damp;
int ai_type;
};
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