void UpdateAI(const uint32 diff)
{
if (nextMovementTimer)
{
if (nextMovementTimer <= diff)
{
nextMovementTimer = 0;
float x = 0.0f;
float y = 0.0f;
SelectNextWaypoint(x, y);
me->GetMotionMaster()->MovePoint(POINT_KRIKTHIK_CIRCLE, x, y, myPositionZ);
}
else nextMovementTimer -= diff;
}
}
void HeliBrain::GoToCurrentWaypoint(void)
{
float rng, desHeading;
float rollLoad;
float rollDir;
float desSpeed;
float wpX, wpY, wpZ;
float dx, dy, time;
if ( self->curWaypoint->GetWPAction() == WP_PICKUP && onStation == NotThereYet)
{
Unit cargo = (Unit) self->curWaypoint->GetWPTarget();
if ( cargo )
{
wpX = cargo->XPos();
wpY = cargo->YPos();
wpZ = cargo->ZPos();
}
else
{
self->curWaypoint->GetLocation (&wpX, &wpY, &wpZ);
}
}
else
{
self->curWaypoint->GetLocation (&wpX, &wpY, &wpZ);
}
// follow terrain at 1000ft
holdAlt = OTWDriver.GetGroundLevel(self->XPos() + self->XDelta(),
self->YPos() + self->YDelta()) - 1000.0f;
desSpeed = 1.0f;
rollDir = 0.0f;
rollLoad = 0.0f;
if (curMode != lastMode)
{
onStation = NotThereYet;
}
/*---------------------------*/
/* Range to current waypoint */
/*---------------------------*/
dx = (wpX - self->XPos());
dy = (wpY - self->YPos());
rng = dx * dx + dy * dy;
/*------------------------------------*/
/* Heading error for current waypoint */
/*------------------------------------*/
desHeading = (float)atan2 (dy, dx) - self->Yaw();
if (desHeading > 180.0F * DTR)
desHeading -= 360.0F * DTR;
else if (desHeading < -180.0F * DTR)
desHeading += 360.0F * DTR;
// rollLoad is normalized (0-1) factor of how far off-heading we are
// to target
rollLoad = desHeading / (180.0F * DTR);
if (rollLoad < 0.0F)
rollLoad = -rollLoad;
if ( desHeading > 0.0f )
rollDir = 1.0f;
else
rollDir = -1.0f;
//MonoPrint ("%8.2f %8.2f\n", desHeading * RTD, desLoad);
/*---------------------------*/
/* Reached the next waypoint? */
/*---------------------------*/
if (rng < (600.0F * 600.0F) || (onStation != NotThereYet) ||
SimLibElapsedTime > self->curWaypoint->GetWPDepartureTime())
{
if (onStation == NotThereYet)
{
onStation = Arrived;
}
else if ( onStation == OnStation &&
SimLibElapsedTime > self->curWaypoint->GetWPDepartureTime())
{
SelectNextWaypoint();
}
}
// landing?
if ( onStation == Landing ||
onStation == DropOff ||
onStation == Landed ||
onStation == PickUp)
{
LandMe();
return;
}
/*--------------*/
/* On Station ? */
/*--------------*/
if (onStation == Arrived )
{
if ( self->curWaypoint->GetWPFlags() & WPF_LAND )
{
LandMe();
return;
}
onStation = OnStation;
}
// get waypoint speed based on our dist and arrival time
if ( rng < 600.0f * 600.0f )
{
rollLoad = 0.0f;
desSpeed = 0.0f;
}
else
{
rng = (float)sqrt( rng );
if (self->curWaypoint->GetWPArrivalTime() > SimLibElapsedTime)
time = (float)(self->curWaypoint->GetWPArrivalTime() - SimLibElapsedTime) / SEC_TO_MSEC;
else
time = -1.0f;
if ( time <= 0.0f )
{
// we're late
desSpeed = 1.0f;
}
else
{
desSpeed = (rng/time)/MAX_HELI_FPS;
if ( desSpeed > 1.0f )
desSpeed = 1.0f;
}
}
if ( self->OnGround() )
{
self->UnSetFlag( ON_GROUND );
}
// if we're close, just point to spot then go
if ( fabs(rollLoad) > 0.1f && rng < 1000.0f * 1000.0f )
desSpeed = 0.0f;
LevelTurn (rollLoad, rollDir, TRUE);
AltitudeHold(holdAlt);
MachHold(desSpeed, 0.0F, FALSE);
}
