bool
AbortTask::FillReachable(const AircraftState &state,
AlternateVector &approx_waypoints,
const GlidePolar &polar, bool only_airfield,
bool final_glide, bool safety)
{
if (IsTaskFull() || approx_waypoints.empty())
return false;
const AGeoPoint p_start(state.location, state.altitude);
bool found_final_glide = false;
reservable_priority_queue<Alternate, AlternateVector, AbortRank> q;
q.reserve(32);
for (auto v = approx_waypoints.begin(); v != approx_waypoints.end();) {
if (only_airfield && !v->waypoint.IsAirport()) {
++v;
continue;
}
UnorderedTaskPoint t(v->waypoint, task_behaviour);
GlideResult result =
TaskSolution::GlideSolutionRemaining(t, state, polar);
/* calculate time_virtual, which is needed by AbortRank */
result.CalcVInvSpeed(polar.GetInvMC());
if (IsReachable(result, final_glide)) {
bool intersects = false;
const bool is_reachable_final = IsReachable(result, true);
if (intersection_test && final_glide && is_reachable_final)
intersects = intersection_test->Intersects(
AGeoPoint(v->waypoint.location, result.min_height));
if (!intersects) {
q.push(Alternate(v->waypoint, result));
// remove it since it's already in the list now
approx_waypoints.erase(v);
if (is_reachable_final)
found_final_glide = true;
continue; // skip incrementing v since we just erased it
}
}
++v;
}
while (!q.empty() && !IsTaskFull()) {
const Alternate top = q.top();
task_points.push_back(AlternateTaskPoint(top.waypoint, task_behaviour,
top.solution));
const int i = task_points.size() - 1;
if (task_points[i].GetWaypoint().id == active_waypoint)
active_task_point = i;
q.pop();
}
return found_final_glide;
}
entity *CACBot::SearchForFlags(bool bUseWPs, float flRange, float flMaxHeight)
{
/*
Flags are scored on the following:
- Distance
*/
float flDist;
entity *pNewTargetFlag = NULL;
waypoint_s *pWptNearBot = NULL, *pBestWpt = NULL;
short sScore, sHighestScore = 0;
vec vNewGoal = g_vecZero;
if ((WaypointClass.m_iWaypointCount >= 1) && bUseWPs)
pWptNearBot = GetNearestWaypoint(200.0f);
#ifdef WP_FLOOD
if (!pWptNearBot && bUseWPs)
pWptNearBot = GetNearestFloodWP(64.0f);
#endif
loopv(ents)
{
sScore = 0;
entity &e = ents[i];
if(!CanTakeFlag(e)) continue;
//vec o = g_vecZero;
vec o = vec(e.x, e.y, S(e.x, e.y)->floor + PLAYERHEIGHT + PLAYERABOVEEYE);
if(!m_secure(gamemode) && e.attr2 >= 0 && e.attr2 < 2)
{
flaginfo &f = flaginfos[e.attr2];
// flaginfo &of = flaginfos[team_opposite(i)];
if(f.state == CTFF_DROPPED)
{
o = f.pos;
o.z += PLAYERHEIGHT + PLAYERABOVEEYE;
}
}
if(OUTBORD((int)o.x, (int)o.y)) continue;
flDist = GetDistance(o);
if (flDist > flRange) continue;
// Score on distance
float ff = flDist;
if (ff > 100.0f) ff = 100.0f;
sScore += ((100 - short(ff)) / 2);
waypoint_s *pWptNearEnt = NULL;
// If this flag entity isn't visible check if there is a nearby waypoint
if (!IsReachable(o, flMaxHeight))//(!IsVisible(o))
{
if (!pWptNearBot) continue;
#ifdef WP_FLOOD
if (pWptNearBot->pNode->iFlags & W_FL_FLOOD)
pWptNearEnt = GetNearestFloodWP(o, 100.0f);
else
#endif
pWptNearEnt = GetNearestWaypoint(o, 200.f);
if (!pWptNearEnt) continue;
}
// Score on visibility
if (pWptNearEnt == NULL) // Ent is visible
sScore += 6;
else
sScore += 3;
if(sScore > sHighestScore)
{
if (pWptNearEnt) pBestWpt = pWptNearEnt;
else pBestWpt = NULL; // best flag doesn't need any waypoints
vNewGoal = o;
pNewTargetFlag = &e;
}
}
if (pNewTargetFlag)
{
// Need waypoints to reach it?
if (pBestWpt)
{
ResetWaypointVars();
SetCurrentWaypoint(pWptNearBot);
SetCurrentGoalWaypoint(pBestWpt);
}
m_vGoal = vNewGoal;
}
return pNewTargetFlag;
}
bool CACBot::HeadToTargetFlag()
{
if(m_pTargetFlag)
{
const vec o = m_vGoal;
if(CanTakeFlag(*m_pTargetFlag) && (!UnderWater(m_pMyEnt->o) || !UnderWater(o)))
{
bool bIsVisible = false;
if (m_pCurrentGoalWaypoint)
{
if ((GetDistance(o) <= 20.0f) && IsReachable(o, 1.0f))
bIsVisible = true;
else if (HeadToGoal())
{
//debugbeam(m_pMyEnt->o, m_pCurrentWaypoint->pNode->v_origin);
//debugbeam(m_pMyEnt->o,
// m_pCurrentGoalWaypoint->pNode->v_origin);
AddDebugText("Using WPs for flag");
return true;
}
}
else
bIsVisible = IsVisible(o);
if (bIsVisible)
{
if (m_pCurrentWaypoint || m_pCurrentGoalWaypoint)
{
condebug("flag is now visible");
ResetWaypointVars();
}
float flHeightDiff = o.z - m_pMyEnt->o.z;
bool bToHigh = false;
if (Get2DDistance(o) <= 2.0f)
{
if (flHeightDiff >= 1.5f)
{
if (flHeightDiff <= JUMP_HEIGHT)
{
#ifndef RELEASE_BUILD
char sz[64];
sprintf(sz, "Flag z diff: %f", o.z-m_pMyEnt->o.z);
condebug(sz);
#endif
// Jump if close to ent and the ent is high
m_pMyEnt->jumpnext = true;
}
else
bToHigh = true;
}
}
if (!bToHigh)
{
AimToVec(o);
return true;
}
}
}
}
return false;
}
entity *CACBot::SearchForEnts(bool bUseWPs, float flRange, float flMaxHeight)
{
/* Entities are scored on the following things:
- Visibility
- For ammo: Need(ie has this bot much of this type or not)
- distance
*/
float flDist;
entity *pNewTargetEnt = NULL;
waypoint_s *pWptNearBot = NULL, *pBestWpt = NULL;
short sScore, sHighestScore = 0;
if ((WaypointClass.m_iWaypointCount >= 1) && bUseWPs)
pWptNearBot = GetNearestWaypoint(15.0f);
#ifdef WP_FLOOD
if (!pWptNearBot && bUseWPs)
pWptNearBot = GetNearestFloodWP(5.0f);
#endif
loopv(ents)
{
sScore = 0;
entity &e = ents[i];
vec o(e.x, e.y, S(e.x, e.y)->floor+player1->eyeheight);
if (!ents[i].spawned) continue;
if (OUTBORD(e.x, e.y)) continue;
bool bInteresting = false;
short sAmmo = 0, sMaxAmmo = 0;
switch(e.type)
{
case I_CLIPS:
sMaxAmmo = ammostats[m_pMyEnt->secondary].max;
bInteresting = (m_pMyEnt->ammo[m_pMyEnt->secondary]<sMaxAmmo);
sAmmo = m_pMyEnt->ammo[m_pMyEnt->secondary];
break;
case I_AMMO:
sMaxAmmo = ammostats[m_pMyEnt->primary].max;
bInteresting = (m_pMyEnt->ammo[m_pMyEnt->primary]<sMaxAmmo);
sAmmo = m_pMyEnt->ammo[m_pMyEnt->primary];
break;
case I_GRENADE:
sMaxAmmo = ammostats[GUN_GRENADE].max;
bInteresting = (m_pMyEnt->mag[GUN_GRENADE]<sMaxAmmo);
sAmmo = -1;
break;
case I_HEALTH:
sMaxAmmo = MAXHEALTH;
bInteresting = (m_pMyEnt->health < sMaxAmmo);
sAmmo = m_pMyEnt->health;
break;
case I_HELMET:
case I_ARMOUR:
sMaxAmmo = MAXARMOUR;
bInteresting = (m_pMyEnt->armour < sMaxAmmo);
sAmmo = m_pMyEnt->armour;
break;
case I_AKIMBO:
bInteresting = !m_pMyEnt->akimbo;
sAmmo = -1;
break;
};
if (!bInteresting)
continue; // Not an interesting item, skip
// Score on ammo and need
// Akimbo & nade
if (sAmmo == -1)
{
sScore += 75; // Bonus
}
else
{
// Calculate current percentage of max ammo
float percent = ((float)sAmmo / (float)sMaxAmmo) * 100.0f;
if (percent > 100.0f) percent = 100.0f;
sScore += ((100 - short(percent))/2);
}
flDist = GetDistance(o);
if (flDist > flRange) continue;
// Score on distance
float f = flDist;
if (f > 100.0f) f = 100.0f;
sScore += ((100 - short(f)) / 2);
waypoint_s *pWptNearEnt = NULL;
// If this entity isn't visible check if there is a nearby waypoint
if (!IsReachable(o, flMaxHeight))//(!IsVisible(o))
{
if (!pWptNearBot) continue;
#ifdef WP_FLOOD
if (pWptNearBot->pNode->iFlags & W_FL_FLOOD)
pWptNearEnt = GetNearestFloodWP(o, 8.0f);
else
#endif
pWptNearEnt = GetNearestWaypoint(o, 15.0f);
if (!pWptNearEnt) continue;
}
// Score on visibility
if (pWptNearEnt == NULL) // Ent is visible
sScore += 30;
else
sScore += 15;
if (sScore > sHighestScore)
{
// Found a valid wp near the bot and the ent,so...lets store it :)
if (pWptNearEnt)
pBestWpt = pWptNearEnt;
else
pBestWpt = NULL; // Best ent so far doesn't need any waypoints
sHighestScore = sScore;
pNewTargetEnt = &ents[i];
}
}
if (pNewTargetEnt)
{
// Need waypoints to reach it?
if (pBestWpt)
{
ResetWaypointVars();
SetCurrentWaypoint(pWptNearBot);
SetCurrentGoalWaypoint(pBestWpt);
}
m_vGoal.x = pNewTargetEnt->x;
m_vGoal.y = pNewTargetEnt->y;
m_vGoal.z = S(pNewTargetEnt->x, pNewTargetEnt->y)->floor+player1->eyeheight;
}
return pNewTargetEnt;
}
