// check whether a ship is in jump range of a stargate ------------------------
//
PRIVATE
int ShipInStargateJumpRange( Stargate *stargate, ShipObject *ship, geomv_t range )
{
ASSERT( stargate != NULL );
ASSERT( ship != NULL );
//NOTE:
// the ship is treated as a point for jump
// range detection.
Vector3 gatenormal;
FetchZVector( stargate->ObjPosition, &gatenormal );
Vertex3 gatepos;
FetchTVector( stargate->ObjPosition, &gatepos );
Vertex3 shippos;
FetchTVector( ship->ObjPosition, &shippos );
geomv_t shipdot = -DOT_PRODUCT( &gatenormal, &shippos );
geomv_t gatedot = -DOT_PRODUCT( &gatenormal, &gatepos );
geomv_t distance = shipdot - gatedot;
// not in range if ship in wrong halfspace
if ( GEOMV_NEGATIVE( distance ) ) {
return FALSE;
}
// check whether inside of boundingsphere around stargate
Vector3 stargate_ship;
VECSUB( &stargate_ship, &shippos, &gatepos );
geomv_t stargate_ship_len = VctLenX( &stargate_ship );
if ( stargate_ship_len > stargate->BoundingSphere ) {
return FALSE;
}
// inside the activation distance/range ?
if ( distance < range ) {
Vector3 shipnormal;
FetchZVector( ship->ObjPosition, &shipnormal );
// ship must be flying approximately head-on into the gate
//FIXME: cone_angle like for teleporter
geomv_t dirdot = DOT_PRODUCT( &gatenormal, &shipnormal );
return ( dirdot > FLOAT_TO_GEOMV( 0.7f ) );
}
return FALSE;
}
// check whether a ship is in range of a stargate -----------------------------
//
PRIVATE
int ShipInStargateRange( Stargate *stargate, ShipObject *ship, geomv_t range )
{
ASSERT( stargate != NULL );
ASSERT( ship != NULL );
//NOTE:
// the ship is treated as a sphere for activation
// range detection.
Vector3 gatenormal;
FetchZVector( stargate->ObjPosition, &gatenormal );
Vertex3 gatepos;
FetchTVector( stargate->ObjPosition, &gatepos );
Vertex3 shippos;
FetchTVector( ship->ObjPosition, &shippos );
geomv_t shipdot = -DOT_PRODUCT( &gatenormal, &shippos );
geomv_t gatedot = -DOT_PRODUCT( &gatenormal, &gatepos );
geomv_t distance = shipdot - gatedot;
// bounding sphere touching in negative halfspace is still ok
distance += ship->BoundingSphere;
// not in range if ship in wrong halfspace
if ( GEOMV_NEGATIVE( distance ) ) {
return FALSE;
}
// in range if ship bounding sphere intersects gate range hemisphere
range += ship->BoundingSphere * 2;
return ( distance < range );
}
// ----------------------------------------------------------------------------
//
void BOT_AI::_SteerToPosition( Vector3* targetPos, object_control_s* pObjctl )
{
// get vector to target
Vector3 vec2Target;
VECSUB( &vec2Target, targetPos, &m_AgentPos );
float oldaccel = pObjctl->accel;
UTL_LocomotionController _LomoCtrl;
_LomoCtrl.ControlOjbect( pObjctl, &vec2Target, pObjctl->pShip->MaxSpeed );
if ( pObjctl->accel != oldaccel ) {
#ifdef BOT_LOGFILES
BOT_AccelMode_MsgOut( "%f %f %f", m_AgentPos.X, m_AgentPos.Y, m_AgentPos.Z );
#endif // BOT_LOGFILES
}
Vector3 xDir, yDir, zDir;
FetchXVector( m_pShip->ObjPosition, &xDir );
FetchYVector( m_pShip->ObjPosition, &yDir );
FetchZVector( m_pShip->ObjPosition, &zDir );
#ifdef BOT_LOGFILES
BOT_MsgOut( "pos: %7.2f/%7.2f/%7.2f vec2target: %7.2f/%7.2f/%7.2f xDir: %7.2f/%7.2f/%7.2f yDir: %7.2f/%7.2f/%7.2f rot_x: %7.2f rot_y: %7.2f accel: %7.2f",
m_AgentPos.X, m_AgentPos.Y, m_AgentPos.Z,
vec2Target.X, vec2Target.Y, vec2Target.Z,
xDir.X, xDir.Y, xDir.Z,
yDir.X, yDir.Y, yDir.Z,
pObjctl->rot_x, pObjctl->rot_y, pObjctl->accel );
BOT_Pos_MsgOut ( "%f %f %f", m_AgentPos.X, m_AgentPos.Y, m_AgentPos.Z );
BOT_XDir_MsgOut( "%f %f %f", xDir.X, xDir.Y, xDir.Z );
BOT_ZDir_MsgOut( "%f %f %f", zDir.X, zDir.Y, zDir.Z );
#endif // BOT_LOGFILES
}
// ----------------------------------------------------------------------------
//
void UTL_LocomotionController::ControlOjbect( object_control_s* pObjctl, Vector3* pDesiredVelocity, fixed_t _DesiredSpeed )
{
ASSERT( pObjctl != NULL );
ASSERT( pDesiredVelocity != NULL );
Vector3 xDir, yDir, zDir;
FetchXVector( pObjctl->pShip->ObjPosition, &xDir );
FetchYVector( pObjctl->pShip->ObjPosition, &yDir );
FetchZVector( pObjctl->pShip->ObjPosition, &zDir );
geomv_t len = VctLenX( pDesiredVelocity );
// stop control if desired velocity is zero
if ( len <= GEOMV_VANISHING ) {
pObjctl->rot_x = 0;
pObjctl->rot_y = 0;
pObjctl->accel = -0.82;
#ifdef BOT_LOGFILES
BOT_MsgOut( "ControlOjbect() got dimishing desired velocity" );
#endif // BOT_LOGFILES
return;
} else {
Vector3 DesVelNorm;
DesVelNorm.X = FLOAT_TO_GEOMV( pDesiredVelocity->X / len );
DesVelNorm.Y = FLOAT_TO_GEOMV( pDesiredVelocity->Y / len );
DesVelNorm.Z = FLOAT_TO_GEOMV( pDesiredVelocity->Z / len );
geomv_t yaw_dot = DOT_PRODUCT( &DesVelNorm, &xDir );
geomv_t pitch_dot = DOT_PRODUCT( &DesVelNorm, &yDir );
geomv_t heading_dot = DOT_PRODUCT( &DesVelNorm, &zDir );
float fDesiredSpeed = FIXED_TO_FLOAT( _DesiredSpeed );
float fCurSpeed = FIXED_TO_FLOAT( pObjctl->pShip->CurSpeed );
float pitch = 0;
float yaw = 0;
// target is behind us
sincosval_s fullturn;
GetSinCos( DEG_TO_BAMS( 2 * m_nRelaxedHeadingAngle ), &fullturn );
//if ( heading_dot < 0.0f ) {
if ( heading_dot < -fullturn.cosval ) {
// we must initiate a turn, if not already in a turn
if ( !pObjctl->IsYaw() || !pObjctl->IsPitch() ) {
// default to random
yaw = (float)( RAND() % 3 ) - 1;
pitch = (float)( RAND() % 3 ) - 1;
// steer towards goal
if ( yaw_dot < -GEOMV_VANISHING ) {
yaw = OCT_YAW_LEFT;
} else if ( yaw_dot > GEOMV_VANISHING ) {
yaw = OCT_YAW_RIGHT;
}
if ( pitch_dot < -GEOMV_VANISHING ) {
pitch = OCT_PITCH_UP;
} else if ( pitch_dot > GEOMV_VANISHING ) {
pitch = OCT_PITCH_DOWN;
}
} else {
// reuse prev. turn information
pitch = pObjctl->rot_x;
yaw = pObjctl->rot_y;
}
// slow down, until in direction of target
// pObjctl->accel = heading_dot;
//pObjctl->accel = OCT_DECELERATE;
// also maintain min. speed during turns
if ( fCurSpeed > m_fMinSpeedTurn ) {
pObjctl->accel = -0.42;
}
} else {
// determine accel
if ( fDesiredSpeed > fCurSpeed ) {
// accelerate towards target
pObjctl->accel = OCT_ACCELERATE;
} else if ( fDesiredSpeed < fCurSpeed ) {
// decelerate towards target
pObjctl->accel = OCT_DECELERATE;
} else {
// no accel
pObjctl->accel = 0;
}
// heading must be inside of 5 degrees cone angle
sincosval_s sincosv;
GetSinCos( DEG_TO_BAMS( m_nRelaxedHeadingAngle ), &sincosv );
if ( yaw_dot < -sincosv.sinval ) {
yaw = OCT_YAW_LEFT;
} else if ( yaw_dot > sincosv.sinval ) {
yaw = OCT_YAW_RIGHT;
}
if ( pitch_dot < -sincosv.sinval ) {
pitch = OCT_PITCH_UP;
} else if ( pitch_dot > sincosv.sinval ) {
pitch = OCT_PITCH_DOWN;
}
// if heading outside of 30 degrees cone angle, we decelerate
GetSinCos( DEG_TO_BAMS( m_nFullSpeedHeading ), &sincosv );
bool_t bYawOutsideHeading = ( ( yaw_dot < -sincosv.sinval ) || ( yaw_dot > sincosv.sinval ) );
bool_t bPitchOutsideHeading = ( ( pitch_dot < -sincosv.sinval ) || ( pitch_dot > sincosv.sinval ) );
if ( bYawOutsideHeading || bPitchOutsideHeading ) {
// also maintain min. speed during turns
if ( fCurSpeed > min( m_fMinSpeedTurn, fDesiredSpeed ) ) {
// decelerate towards target
pObjctl->accel = OCT_DECELERATE;
}
}
}
#ifdef BOT_LOGFILES
BOT_MsgOut( "heading_dot: %f, yaw_dot: %f, pitch_dot: %f", heading_dot, yaw_dot, pitch_dot );
#endif // BOT_LOGFILES
//FIXME: oct must also handle slide horiz./vert.
pObjctl->rot_x = pitch;
pObjctl->rot_y = yaw;
}
}
