void aiPilot::DoFormation(sManeuverState &mv)
{
EnableGroundCollision(1);
curTarget = &formationTarget;
GetTargetGeometry(TARGET_IDX,TARGET_GEOMETRY);
GetTargetFlags(*curTarget);
/* check ground collision */
if (mv.state != 6)
{
if (flightModel->GetHeightAGL() + (deltaAltitude * grndColSecs) <= grndColAGL)
{
mv.state = 6;
ClearManeuverStackTo(mv.stackLevel);
PushManeuver(sManeuver::PULLUP,0,
flightModel->GetHeightAGL() + grndColRcvrAGL,
grndColPullUpAngle);
return;
}
}
switch (mv.state)
{
case 0:
default:
{
sREAL rollNeeded;
ControlsOff();
if (fabs(FORMATION_PITCH) > _degree * 30.0 ||
fabs(FORMATION_YAW) > _degree * 30.0)
rollNeeded = Point2Roll(TARGET_GEOMETRY.formationPoint);
else
rollNeeded = atan(flightModel->GetAirSpeedFPS() *
FORMATION_YAW / 32.2);
SETROLLPID(rollNeeded);
SETPITCHPID(FORMATION_PITCH);
SETYAWPID(FORMATION_YAW);
flightModel->SetWEP(0);
sREAL speedGoal = CalcClosureSpeed(formationTarget.geometry,1);
SETCONTROL(speedCtl,speedGoal);
}
break;
case 6:
if (mnvrStackPtr == mv.stackLevel)
mv.state = 0;
break;
}
}
// Execute maneuvers on the maneuver stack.
void aiBase::ExecManeuverStack(void)
{
int i;
// Start at top
i = mnvrStackPtr;
while (i >= 0)
{
sManeuverState &ms = mnvrStack[i];
UpdateManeuver(ms);
// If this maneuver is done and not flagged as "looping",
// pop it
if (ms.done && !ms.IsLoop())
{
ClearManeuverStackTo(ms.stackLevel);
PopManeuver();
}
i--;
}
}
/*************************************************************
* Intercept *
* Get within engagement distance *
*************************************************************/
void aiPilot::DoIntercept(sManeuverState &mv)
{
enum { BASE, TURN, EXTEND, AVOID_GROUND, CLIMB, NOSEON, DONE };
engageMaxSpeed = flightModel->GetMaxSpeedFPS() * 0.7;
EnableGroundCollision(1);
curTarget = &interceptTarget;
GetTargetGeometry(TARGET_IDX,TARGET_GEOMETRY);
GetTargetFlags(interceptTarget);
/* check ground collision */
if (mv.state != AVOID_GROUND)
{
if (flightModel->GetHeightAGL() + (deltaAltitude * grndColSecs) <= grndColAGL)
{
ClearManeuverStackTo(mv.stackLevel);
PushManeuver(sManeuver::PULLUP,0,
grndColRcvrAGL,
grndColPullUpAngle);
mv.state = AVOID_GROUND;
return;
}
}
/* check if we're done */
if (mv.state != AVOID_GROUND && mv.state != DONE && (!TARGET_ACTIVE ||
TARGET_RANGE < ENGAGE_DISTANCE))
mv.state = DONE;
switch (mv.state)
{
case BASE:
if (flightModel->GetAirSpeedFPS() < engageMaxSpeed * 0.6)
{
PushManeuver(sManeuver::EXTEND,0,engageMaxSpeed * 1.1,20,8);
mv.state = EXTEND;
}
else if (TARGET_FLAGS.rear)
{
if (TARGET_YAW < 0.0)
PushManeuver(sManeuver::HARD_TURN,IMNVR_LEFT);
else
PushManeuver(sManeuver::HARD_TURN,IMNVR_RIGHT);
mv.state = TURN;
}
else if (TARGET_FLAGS.forward && !TARGET_FLAGS.low)
{
PushManeuver(sManeuver::CLIMB,0,TARGET_ALTITUDE + 500,200);
mv.state = CLIMB;
}
else
{
SetNoseOn(TARGET_PITCH,TARGET_YAW);
flightModel->SetWEP(1);
flightModel->SetEngineControlPer(1.0);
mv.state = NOSEON;
}
break;
case NOSEON:
if (TARGET_FLAGS.onNose)
mv.state = BASE;
SetNoseOn(TARGET_PITCH,TARGET_YAW);
break;
case TURN:
if (TARGET_FLAGS.forward)
ClearManeuverStackTo(mv.stackLevel);
if (mnvrStackPtr == mv.stackLevel)
mv.state = BASE;
break;
case CLIMB:
if (TARGET_FLAGS.low || TARGET_FLAGS.rear)
ClearManeuverStackTo(mv.stackLevel);
if (mnvrStackPtr == mv.stackLevel)
mv.state = BASE;
break;
case EXTEND:
if (mnvrStackPtr == mv.stackLevel)
mv.state = BASE;
break;
case DONE:
if (mnvrStackPtr == mv.stackLevel)
PushManeuver(sManeuver::STRAIGHT_AND_LEVEL);
break;
}
}
void aiPilot::DoAirShow(sManeuverState &mv)
{
EnableGroundCollision(1);
GetNavigationGeometry(navInfo);
/* check ground collision */
if (mv.state != 6)
{
if (flightModel->GetHeightAGL() + (deltaAltitude * grndColSecs) <= grndColAGL)
{
LOG("Pulling Up: AGL = %5.3f, deltaAltitude = %5.3f, grndColSecs = %5.3f, grndColAGL = %5.3f",
flightModel->GetHeightAGL(),
deltaAltitude,
grndColSecs,
grndColAGL);
mv.state = 6;
ClearManeuverStackTo(mv.stackLevel);
PushManeuver(sManeuver::PULLUP,0,
grndColRcvrAGL,
grndColPullUpAngle);
return;
}
}
switch (mv.state)
{
case 0:
mv.data4 = 0.0;
mv.data3 = sRandPer() * 5.0 + 5.0;
PushManeuver(sManeuver::STRAIGHT_AND_LEVEL,IMNVR_LOOPBIT);
mv.state = 1;
break;
case 1:
mv.data4 += timeFrame;
if (mv.data4 >= mv.data3)
{
ClearManeuverStackTo(mv.stackLevel);
mv.state = 2;
}
break;
case 2:
{
sREAL altMin = 3000.0;
sREAL altDiff = altMin - flightModel->GetAltitudeFPS();
if ((fabs(NAV_YAW) < _degree * 2) && altDiff > 2000)
{
PushManeuver(sManeuver::CLIMB,0,altMin + 500,
NAV_ALT_THRESH / 4.0);
mv.state = 7;
break;
}
int maneuver = (int) mv.data0++;
if (mv.data0 > 5)
mv.data0 = 0;
switch (maneuver)
{
case 0:
{
int turn_bits;
if (sFlipCoin())
turn_bits = IMNVR_RIGHT;
else
turn_bits = IMNVR_LEFT;
PushManeuver(sManeuver::STANDARD_TURN,turn_bits,
sRandPer() * 30.0 + 15.0,
sRandPer() * 300.0);
mv.data4 = 0.0;
mv.data3 = sRandPer() * 16.0 + 8.0;
mv.state = 5;
}
break;
case 1:
{
PushManeuver(sManeuver::INVERT);
mv.data4 = 0.0;
mv.data3 = sRandPer() * 16.0 + 16.0;
mv.state = 5;
}
break;
case 2:
{
int turn_bits;
if (sFlipCoin())
turn_bits = IMNVR_RIGHT;
else
turn_bits = IMNVR_LEFT;
PushManeuver(sManeuver::STANDARD_TURN,turn_bits,
sRandPer() * 30.0 + 15.0,
aiPILOT_CIRCLE_BANK_DEG);
mv.data4 = 0.0;
mv.data3 = sRandPer() * 10.0 + 3.0;
mv.state = 5;
}
break;
case 3:
{
int turn_bits;
if (sFlipCoin())
turn_bits = IMNVR_RIGHT;
else
turn_bits = IMNVR_LEFT;
PushManeuver(sManeuver::AILERON_ROLL,turn_bits);
mv.data4 = 0.0;
mv.data3 = sRandPer() * 16.0 + 16.0;
mv.state = 5;
}
break;
case 4:
{
int turn_bits;
if (sFlipCoin())
turn_bits = IMNVR_RIGHT;
else
turn_bits = IMNVR_LEFT;
PushManeuver(sManeuver::BREAK_TURN,turn_bits);
mv.data4 = 0.0;
mv.data3 = sRandPer() * 10.0 + 6.0;
mv.state = 5;
}
break;
case 5:
default:
PushManeuver(sManeuver::SPLIT_S,0,splitSGs);
mv.state = 6;
break;
}
}
break;
case 5:
mv.data4 += timeFrame;
if (mv.data4 >= mv.data3)
ClearManeuverStackTo(mv.stackLevel);
if (mnvrStackPtr == mv.stackLevel)
mv.state = 0;
break;
case 6:
if (mnvrStackPtr == mv.stackLevel)
mv.state = 0;
break;
case 7:
mv.data4 += timeFrame;
if (fabs(NAV_YAW) > _degree * 12.0)
ClearManeuverStackTo(mv.stackLevel);
if (mnvrStackPtr == mv.stackLevel)
mv.state = 0;
break;
case 8:
PushManeuver(sManeuver::EXTEND,0,flightModel->GetMaxSpeedFPS());
mv.state = 9;
break;
case 9:
mv.data4 += timeFrame;
if (mv.data4 >= mv.data3)
{
ClearManeuverStackTo(mv.stackLevel);
mv.state = 0;
}
if (mnvrStackPtr == mv.stackLevel)
{
mv.state = 10;
mv.data3 = 30.0;
mv.data4 = 0.0;
PushManeuver(sManeuver::IMMELMAN,0,immelmanGs);
}
break;
case 10:
mv.data4 += timeFrame;
if (mv.data4 >= mv.data3)
ClearManeuverStackTo(mv.stackLevel);
if (mnvrStackPtr == mv.stackLevel)
mv.state = 0;
break;
}
}
/*************************************************************
* Navigation and formation flying *
*************************************************************/
void aiPilot::DoNavigate(sManeuverState &mv)
{
EnableGroundCollision(1);
GetNavigationGeometry(navInfo);
/* check ground collision */
if (mv.state != 6)
{
if (flightModel->GetHeightAGL() + (deltaAltitude * grndColSecs) <= grndColAGL)
{
mv.state = 6;
ClearManeuverStackTo(mv.stackLevel);
PushManeuver(sManeuver::PULLUP,0,
grndColRcvrAGL,
grndColPullUpAngle);
return;
}
}
if (mv.state != 6)
{
if (NAV_RANGE <= 100.0)
{
ClearManeuverStackTo(mv.stackLevel);
if (mv.state != 5)
{
PushManeuver(sManeuver::STANDARD_TURN,IMNVR_LEFT,
aiPILOT_CIRCLE_BANK_DEG,
sMPH2FPS(aiPILOT_CIRCLE_SPEED_MPH));
mv.state = 5;
}
}
else if (mv.state == 5)
{
ClearManeuverStackTo(mv.stackLevel);
mv.state = 0;
}
}
switch (mv.state)
{
case 0:
PushManeuver(sManeuver::STRAIGHT_AND_LEVEL);
mv.state = 1;
break;
case 1:
if (mnvrStackPtr == mv.stackLevel)
mv.state = 2;
break;
case 2:
if (fabs(NAV_YAW) < Pi_4)
mv.state = 4;
else
{
int turn_bits;
if (NAV_YAW > 0.0)
turn_bits = IMNVR_RIGHT;
else
turn_bits = IMNVR_LEFT;
PushManeuver(sManeuver::STANDARD_TURN,turn_bits,
aiPILOT_CIRCLE_BANK_DEG,
sMPH2FPS(aiPILOT_CIRCLE_SPEED_MPH));
mv.state = 3;
}
break;
case 3:
if (fabs(NAV_YAW) < Pi_4)
{
ClearManeuverStackTo(mv.stackLevel);
mv.state = 4;
}
SETCONTROL(speedCtl,navInfo.waypoint.speed);
break;
case 4:
{
sREAL altDiff = NAV_ALTITUDE - flightModel->GetAltitudeFPS();
if ((fabs(NAV_YAW) < _degree) && (fabs(altDiff) > NAV_ALT_THRESH))
{
if (altDiff > 0)
PushManeuver(sManeuver::CLIMB,0,NAV_ALTITUDE,10.0);
else
{
sREAL descentAngle = atan(fabs(altDiff) / NAV_RANGE);
if (descentAngle > Pi_4)
descentAngle = Pi_4;
PushManeuver(sManeuver::DESCEND,0,NAV_ALTITUDE,10.0,descentAngle / _degree);
}
mv.state = 7;
break;
}
if (fabs(NAV_YAW) < _degree)
{
PushManeuver(sManeuver::STRAIGHT_AND_LEVEL);
mv.state = 8;
break;
}
sREAL rollNeeded;
sREAL limitRoll = Pi_4;
ControlsOff();
rollNeeded = atan(flightModel->GetAirSpeedFPS() *
NAV_YAW / 32.2);
if (fabs(rollNeeded) > limitRoll)
{
if (rollNeeded < 0.0)
rollNeeded = -limitRoll;
else
rollNeeded = limitRoll;
}
SETROLLPID(rollNeeded);
SETPITCHPID(NAV_PITCH);
SETYAWPID(NAV_YAW);
SETCONTROL(speedCtl,navInfo.waypoint.speed);
break;
}
case 5:
if (mnvrStackPtr == mv.stackLevel)
PushManeuver(sManeuver::STANDARD_TURN,IMNVR_LEFT,
aiPILOT_CIRCLE_BANK_DEG,
sMPH2FPS(aiPILOT_CIRCLE_SPEED_MPH));
break;
case 6:
if (mnvrStackPtr == mv.stackLevel)
mv.state = 0;
SETCONTROL(speedCtl,navInfo.waypoint.speed);
break;
case 7:
if (fabs(NAV_YAW) > _degree * 12.0)
ClearManeuverStackTo(mv.stackLevel);
if (mnvrStackPtr == mv.stackLevel)
mv.state = 4;
SETCONTROL(speedCtl,navInfo.waypoint.speed);
break;
case 8:
if (fabs(NAV_YAW) > _degree * 3.0)
ClearManeuverStackTo(mv.stackLevel);
if (fabs(NAV_ALTITUDE - flightModel->GetAltitudeFPS()) > NAV_ALT_THRESH)
ClearManeuverStackTo(mv.stackLevel);
if (mnvrStackPtr == mv.stackLevel)
mv.state = 4;
SETCONTROL(speedCtl,navInfo.waypoint.speed);
break;
}
}
