void CHoverAirMoveType::UpdateLanding()
{
const float3& pos = owner->pos;
const float3& speed = owner->speed;
// We want to land, and therefore cancel our speed first
wantedSpeed = ZeroVector;
// Hang around for a while so queued commands have a chance to take effect
if ((++waitCounter) < GAME_SPEED) {
UpdateAirPhysics();
return;
}
if (reservedLandingPos.x < 0) {
if (CanLandAt(pos)) {
// found a landing spot
reservedLandingPos = pos;
goalPos = pos;
owner->physicalState = CSolidObject::OnGround;
owner->Block();
owner->physicalState = CSolidObject::Flying;
owner->Deactivate();
owner->script->StopMoving();
} else {
if (goalPos.SqDistance2D(pos) < 900) {
goalPos = goalPos + gs->randVector() * 300;
goalPos.ClampInBounds();
progressState = AMoveType::Failed; // exact landing pos failed, make sure finishcommand is called anyway
}
flyState = FLY_LANDING;
UpdateFlying();
return;
}
}
// We should wait until we actually have stopped smoothly
if (speed.SqLength2D() > 1.0f) {
UpdateFlying();
return;
}
// We have stopped, time to land
// NOTE: wantedHeight is interpreted as RELATIVE altitude
const float gh = ground->GetHeightAboveWater(pos.x, pos.z);
const float gah = ground->GetHeightReal(pos.x, pos.z);
float altitude = (wantedHeight = 0.0f);
// can we submerge and are we still above water?
if ((owner->unitDef->canSubmerge) && (gah < 0.0f)) {
altitude = pos.y - gah;
} else {
altitude = pos.y - gh;
}
UpdateAirPhysics();
if (altitude <= 1.0f) {
SetState(AIRCRAFT_LANDED);
}
}
void CTAAirMoveType::UpdateLanding()
{
float3 &pos = owner->pos;
float3 &speed = owner->speed;
//We want to land, and therefore cancel our speed first
wantedSpeed = ZeroVector;
waitCounter++;
//Hang around for a while so queued commands have a chance to take effect
if (waitCounter < 30) {
//logOutput.Print("want to land, but.. %d", waitCounter);
UpdateAirPhysics();
return;
}
if(reservedLandingPos.x<0){
// logOutput.Print("Searching for landing spot");
if(CanLandAt(pos)){
// logOutput.Print("Found landing spot");
reservedLandingPos=pos;
goalPos=pos;
owner->physicalState = CSolidObject::OnGround;
owner->Block();
owner->physicalState = CSolidObject::Flying;
owner->Deactivate();
owner->cob->Call(COBFN_StopMoving);
} else {
if(goalPos.distance2D(pos)<30){
goalPos=goalPos+gs->randVector()*300;
goalPos.CheckInBounds();
}
flyState = FLY_LANDING;
UpdateFlying();
return;
}
}
//We should wait until we actually have stopped smoothly
if (speed.SqLength2D() > 1) {
UpdateFlying();
return;
}
//We have stopped, time to land
wantedHeight=-2;
UpdateAirPhysics();
float h = pos.y - ground->GetHeight(pos.x, pos.z);
if (h <= 0) {
//logOutput.Print("Landed");
SetState(AIRCRAFT_LANDED);
pos.y = ground->GetHeight(pos.x, pos.z);
}
}
// Move the unit around a bit..
void CHoverAirMoveType::UpdateHovering()
{
#if 0
#define NOZERO(x) std::max(x, 0.0001f)
float3 deltaVec = goalPos - owner->pos;
float3 deltaDir = float3(deltaVec.x, 0.0f, deltaVec.z);
const float driftSpeed = math::fabs(owner->unitDef->dlHoverFactor);
const float goalDistance = NOZERO(deltaDir.Length2D());
const float brakeDistance = 0.5f * owner->speed.SqLength2D() / decRate;
// move towards goal position if it's not immediately
// behind us when we have more waypoints to get to
// *** this behavior interferes with the loading procedure of transports ***
const bool b0 = (aircraftState != AIRCRAFT_LANDING && owner->commandAI->HasMoreMoveCommands());
const bool b1 = (goalDistance < brakeDistance && goalDistance > 1.0f);
if (b0 && b1 && dynamic_cast<CTransportUnit*>(owner) == NULL) {
deltaDir = owner->frontdir;
} else {
deltaDir *= smoothstep(0.0f, 20.0f, goalDistance) / goalDistance;
deltaDir -= owner->speed;
}
if (deltaDir.SqLength2D() > (maxSpeed * maxSpeed)) {
deltaDir *= (maxSpeed / NOZERO(math::sqrt(deltaDir.SqLength2D())));
}
// random movement (a sort of fake wind effect)
// random drift values are in range -0.5 ... 0.5
randomWind.x = randomWind.x * 0.9f + (gs->randFloat() - 0.5f) * 0.5f;
randomWind.z = randomWind.z * 0.9f + (gs->randFloat() - 0.5f) * 0.5f;
wantedSpeed = owner->speed + deltaDir;
wantedSpeed += (randomWind * driftSpeed * 0.5f);
UpdateAirPhysics();
#endif
#if 1
randomWind.x = randomWind.x * 0.9f + (gs->randFloat() - 0.5f) * 0.5f;
randomWind.z = randomWind.z * 0.9f + (gs->randFloat() - 0.5f) * 0.5f;
// randomly drift (but not too far from goal-position)
wantedSpeed = (randomWind * math::fabs(owner->unitDef->dlHoverFactor) * 0.5f);
wantedSpeed += (smoothstep(0.0f, 20.0f * 20.0f, (goalPos - owner->pos)) * (goalPos - owner->pos));
UpdateAirPhysics();
#endif
}
void CAirMoveType::UpdateManeuver(void)
{
#ifdef DEBUG_AIRCRAFT
if(selectedUnits.selectedUnits.find(this)!=selectedUnits.selectedUnits.end()){
info->AddLine("UpdataMan %i %i",maneuver,maneuverSubState);
}
#endif
float speedf=owner->speed.Length();
switch(maneuver){
case 1:{
int aileron=0,elevator=0;
if(owner->updir.y>0){
if(owner->rightdir.y>maxAileron*speedf){
aileron=1;
}else if(owner->rightdir.y<-maxAileron*speedf){
aileron=-1;
}
}
if(fabs(owner->rightdir.y)<maxAileron*3*speedf || owner->updir.y<0)
elevator=1;
UpdateAirPhysics(0,aileron,elevator,1,owner->frontdir);
if((owner->updir.y<0 && owner->frontdir.y<0) || speedf<0.8)
maneuver=0;
break;}
case 2:{
int aileron=0,elevator=0;
if(maneuverSubState==0){
if(owner->rightdir.y>=0){
aileron=-1;
}else{
aileron=1;
}
}
if(owner->frontdir.y<-0.7)
maneuverSubState=1;
if(maneuverSubState==1 || owner->updir.y<0)
elevator=1;
UpdateAirPhysics(0,aileron,elevator,1,owner->frontdir);
if((owner->updir.y>0 && owner->frontdir.y>0 && maneuverSubState==1) || speedf<0.2)
maneuver=0;
break;}
default:
UpdateAirPhysics(0,0,0,1,owner->frontdir);
maneuver=0;
break;
}
}
// Move the unit around a bit..
void CTAAirMoveType::UpdateHovering()
{
#define NOZERO(x) std::max(x, 0.0001f)
const float driftSpeed = fabs(owner->unitDef->dlHoverFactor);
float3 deltaVec = goalPos - owner->pos;
float3 deltaDir = float3(deltaVec.x, 0, deltaVec.z);
float l = NOZERO(deltaDir.Length2D());
deltaDir *= smoothstep(0.0f, 20.0f, l) / l;
// move towards goal position if it's not immediately
// behind us when we have more waypoints to get to
// *** this behavior interferes with the loading procedure of transports ***
if (aircraftState != AIRCRAFT_LANDING && owner->commandAI->HasMoreMoveCommands() &&
(l < 120) && (deltaDir.SqDistance(deltaVec) > 1.0f) && dynamic_cast<CTransportUnit*>(owner) == NULL) {
deltaDir = owner->frontdir;
}
deltaDir -= owner->speed;
l = deltaDir.SqLength2D();
if (l > (maxSpeed * maxSpeed)) {
deltaDir *= maxSpeed / NOZERO(sqrt(l));
}
wantedSpeed = owner->speed + deltaDir;
// random movement (a sort of fake wind effect)
// random drift values are in range -0.5 ... 0.5
randomWind = float3(randomWind.x * 0.9f + (gs->randFloat() - 0.5f) * 0.5f, 0,
randomWind.z * 0.9f + (gs->randFloat() - 0.5f) * 0.5f);
wantedSpeed += randomWind * driftSpeed * 0.5f;
UpdateAirPhysics();
}
void CHoverAirMoveType::UpdateLanding()
{
const float3& pos = owner->pos;
if (!HaveLandingPos()) {
if (CanLandAt(pos)) {
// found a landing spot
reservedLandingPos = pos;
goalPos = pos;
wantedHeight = 0;
UpdateLandingHeight();
const float3 originalPos = pos;
owner->Move(reservedLandingPos, false);
owner->Block();
owner->Move(originalPos, false);
owner->script->StopMoving();
} else {
if (goalPos.SqDistance2D(pos) < (30.0f * 30.0f)) {
// randomly pick another landing spot and try again
goalPos += (gs->randVector() * 300.0f);
goalPos.ClampInBounds();
// exact landing pos failed, make sure finishcommand is called anyway
progressState = AMoveType::Failed;
}
flyState = FLY_LANDING;
UpdateFlying();
return;
}
}
flyState = FLY_LANDING;
const float altitude = pos.y - reservedLandingPos.y;
const float distSq2D = reservedLandingPos.SqDistance2D(pos);
if (distSq2D > landRadiusSq) {
const float tmpWantedHeight = wantedHeight;
SetGoal(reservedLandingPos);
wantedHeight = std::min((orgWantedHeight - wantedHeight) * distSq2D / altitude + wantedHeight, orgWantedHeight);
UpdateFlying();
wantedHeight = tmpWantedHeight;
return;
}
// We want to land, and therefore cancel our speed first
wantedSpeed = ZeroVector;
AAirMoveType::UpdateLanding();
UpdateAirPhysics();
}
void CTAAirMoveType::UpdateTakeoff()
{
float3 &pos = owner->pos;
wantedSpeed=ZeroVector;
wantedHeight=orgWantedHeight;
UpdateAirPhysics();
float h = pos.y - ground->GetHeight(pos.x, pos.z);
if (h > orgWantedHeight*0.8f) {
//logOutput.Print("Houston, we have liftoff %f %f", h, wantedHeight);
SetState(AIRCRAFT_FLYING);
}
}
// Move the unit around a bit.. and when it gets too far away from goal position it switches to normal flying instead
void CTAAirMoveType::UpdateHovering()
{
float driftSpeed = owner->unitDef->dlHoverFactor;
// move towards goal position
float3 dir = goalPos - owner->pos;
wantedSpeed += float3(dir.x, 0.0f, dir.z) * driftSpeed * 0.03f;
// damping
wantedSpeed *= 0.97f;
// random movement (a sort of fake wind effect)
wantedSpeed += float3(gs->randFloat()-.5f, 0.0f, gs->randFloat()-0.5f) * driftSpeed * 0.5f;
UpdateAirPhysics();
}
void CHoverAirMoveType::UpdateTakeoff()
{
const float3& pos = owner->pos;
wantedSpeed = ZeroVector;
wantedHeight = orgWantedHeight;
UpdateAirPhysics();
const float altitude = owner->unitDef->canSubmerge?
(pos.y - CGround::GetHeightReal(pos.x, pos.z)):
(pos.y - CGround::GetHeightAboveWater(pos.x, pos.z));
if (altitude > orgWantedHeight * 0.8f) {
SetState(AIRCRAFT_FLYING);
}
}
void CTAAirMoveType::UpdateTakeoff()
{
float3 &pos = owner->pos;
wantedSpeed = ZeroVector;
wantedHeight = orgWantedHeight;
UpdateAirPhysics();
float h = 0.0f;
if (owner->unitDef->canSubmerge) {
h = pos.y - ground->GetApproximateHeight(pos.x, pos.z);
} else {
h = pos.y - ground->GetHeightAboveWater(pos.x, pos.z);
}
if (h > orgWantedHeight * 0.8f) {
SetState(AIRCRAFT_FLYING);
}
}
void CHoverAirMoveType::UpdateTakeoff()
{
float3& pos = owner->pos;
wantedSpeed = ZeroVector;
wantedHeight = orgWantedHeight;
UpdateAirPhysics();
float altitude = 0.0f;
if (owner->unitDef->canSubmerge) {
altitude = pos.y - ground->GetHeightReal(pos.x, pos.z);
} else {
altitude = pos.y - ground->GetHeightAboveWater(pos.x, pos.z);
}
if (altitude > orgWantedHeight * 0.8f) {
SetState(AIRCRAFT_FLYING);
}
}
// Move the unit around a bit.. and when it gets too far away from goal position
// it switches to normal flying instead
void CTAAirMoveType::UpdateHovering()
{
float driftSpeed = owner->unitDef->dlHoverFactor;
float3 dir = goalPos - owner->pos;
// move towards goal position if it's not immediately behind us when we have
// more waypoints to get to
if (aircraftState != AIRCRAFT_LANDING && (owner->commandAI->HasMoreMoveCommands() &&
dir.Length2D() < 120) && (goalPos - owner->pos).Normalize().distance(dir) > 1) {
dir = owner->frontdir;
}
wantedSpeed += float3(dir.x, 0.0f, dir.z) * driftSpeed * 0.03f;
// damping
wantedSpeed *= 0.97f;
// random movement (a sort of fake wind effect)
wantedSpeed += float3(gs->randFloat() - 0.5f, 0.0f, gs->randFloat() - 0.5f) * driftSpeed * 0.5f;
UpdateAirPhysics();
}
void CAirMoveType::Update(void)
{
float3 &pos=owner->pos;
//This is only set to false after the plane has finished constructing
if (useHeading){
useHeading = false;
SetState(AIRCRAFT_TAKEOFF);
}
if(owner->stunned){
UpdateAirPhysics(0,lastAileronPos,lastElevatorPos,0,ZeroVector);
goto EndNormalControl;
}
#ifdef DIRECT_CONTROL_ALLOWED
if(owner->directControl && !(aircraftState==AIRCRAFT_CRASHING)){
SetState(AIRCRAFT_FLYING);
DirectControlStruct* dc=owner->directControl;
inefficientAttackTime=0;
if(dc->forward || dc->back || dc->left || dc->right){
float aileron=0;
float elevator=0;
if(dc->forward)
elevator-=1;
if(dc->back)
elevator+=1;
if(dc->right)
aileron+=1;
if(dc->left)
aileron-=1;
UpdateAirPhysics(0,aileron,elevator,1,owner->frontdir);
maneuver=0;
goto EndNormalControl; //ok so goto is bad i know
}
}
#endif
if(reservedPad){
CUnit* unit=reservedPad->unit;
float3 relPos=unit->localmodel->GetPiecePos(reservedPad->piece);
float3 pos=unit->pos + unit->frontdir*relPos.z + unit->updir*relPos.y + unit->rightdir*relPos.x;
if(padStatus==0){
if(aircraftState!=AIRCRAFT_FLYING && aircraftState!=AIRCRAFT_TAKEOFF)
SetState(AIRCRAFT_FLYING);
goalPos=pos;
if(pos.distance(owner->pos)<400){
padStatus=1;
}
// geometricObjects->AddLine(owner->pos,pos,1,0,1);
} else if(padStatus==1){
if(aircraftState!=AIRCRAFT_LANDING)
SetState(AIRCRAFT_LANDING);
goalPos=pos;
reservedLandingPos=pos;
if(owner->pos.distance(pos)<3 || aircraftState==AIRCRAFT_LANDED){
padStatus=2;
}
// geometricObjects->AddLine(owner->pos,pos,10,0,1);
} else {
if(aircraftState!=AIRCRAFT_LANDED)
SetState(AIRCRAFT_LANDED);
owner->pos=pos;
owner->AddBuildPower(20,unit);
if(owner->health>=owner->maxHealth-1){
airBaseHandler->LeaveLandingPad(reservedPad);
reservedPad=0;
padStatus=0;
goalPos=oldGoalPos;
SetState(AIRCRAFT_TAKEOFF);
}
}
}
switch(aircraftState){
case AIRCRAFT_FLYING:
#ifdef DEBUG_AIRCRAFT
if(selectedUnits.selectedUnits.find(this)!=selectedUnits.selectedUnits.end()){
info->AddLine("Flying %i %i %.1f %i",moveState,fireState,inefficientAttackTime,(int)isFighter);
}
#endif
owner->restTime=0;
if(owner->userTarget || owner->userAttackGround){
inefficientAttackTime=min(inefficientAttackTime,(float)gs->frameNum-owner->lastFireWeapon);
if(owner->userTarget){
goalPos=owner->userTarget->pos;
} else {
goalPos=owner->userAttackPos;
}
if(maneuver){
UpdateManeuver();
inefficientAttackTime=0;
} else if(isFighter && goalPos.distance(pos)<owner->maxRange*4){
inefficientAttackTime++;
UpdateFighterAttack();
}else{
inefficientAttackTime=0;
UpdateAttack();
}
}else{
inefficientAttackTime=0;
UpdateFlying(wantedHeight,1);
}
break;
case AIRCRAFT_LANDED:
inefficientAttackTime=0;
UpdateLanded();
break;
case AIRCRAFT_LANDING:
inefficientAttackTime=0;
UpdateLanding();
break;
case AIRCRAFT_CRASHING:
owner->crashing=true;
UpdateAirPhysics(crashRudder,crashAileron,crashElevator,0,owner->frontdir);
new CSmokeProjectile(owner->midPos,gs->randVector()*0.08,100+gs->randFloat()*50,5,0.2,owner,0.4);
if(!(gs->frameNum&3) && max(0.f,ground->GetApproximateHeight(pos.x,pos.z))+5+owner->radius>pos.y)
owner->KillUnit(true,false,0);
break;
case AIRCRAFT_TAKEOFF:
UpdateTakeOff(wantedHeight);
default:
break;
}
EndNormalControl:
if(pos!=oldpos){
oldpos=pos;
if(aircraftState==AIRCRAFT_FLYING || aircraftState==AIRCRAFT_CRASHING){
vector<CUnit*> nearUnits=qf->GetUnitsExact(pos,owner->radius+6);
vector<CUnit*>::iterator ui;
for(ui=nearUnits.begin();ui!=nearUnits.end();++ui){
float sqDist=(pos-(*ui)->pos).SqLength();
float totRad=owner->radius+(*ui)->radius;
if(sqDist<totRad*totRad && sqDist!=0){
float dist=sqrt(sqDist);
float3 dif=pos-(*ui)->pos;
dif/=dist;
if((*ui)->immobile){
pos-=dif*(dist-totRad);
owner->midPos=pos+owner->frontdir*owner->relMidPos.z + owner->updir*owner->relMidPos.y + owner->rightdir*owner->relMidPos.x;
owner->speed*=0.99f;
float damage=(((*ui)->speed-owner->speed)*0.1).SqLength();
owner->DoDamage(DamageArray()*damage,0,ZeroVector);
(*ui)->DoDamage(DamageArray()*damage,0,ZeroVector);
} else {
float part=owner->mass/(owner->mass+(*ui)->mass);
pos-=dif*(dist-totRad)*(1-part);
owner->midPos=pos+owner->frontdir*owner->relMidPos.z + owner->updir*owner->relMidPos.y + owner->rightdir*owner->relMidPos.x;
CUnit* u=(CUnit*)(*ui);
u->pos+=dif*(dist-totRad)*(part);
u->midPos=u->pos+u->frontdir*u->relMidPos.z + u->updir*u->relMidPos.y + u->rightdir*u->relMidPos.x;
float damage=(((*ui)->speed-owner->speed)*0.1).SqLength();
owner->DoDamage(DamageArray()*damage,0,ZeroVector);
(*ui)->DoDamage(DamageArray()*damage,0,ZeroVector);
owner->speed*=0.99f;
}
}
}
}
if(pos.x<0){
pos.x+=1.5;
owner->midPos.x+=1.5;
}else if(pos.x>float3::maxxpos){
pos.x-=1.5;
owner->midPos.x-=1.5;
}
if(pos.z<0){
pos.z+=1.5;
owner->midPos.z+=1.5;
}else if(pos.z>float3::maxzpos){
pos.z-=1.5;
owner->midPos.z-=1.5;
}
}
#ifdef DEBUG_AIRCRAFT
if(lastColWarningType==1){
int g=geometricObjects->AddLine(owner->pos,lastColWarning->pos,10,1,1);
geometricObjects->SetColor(g,0.2,1,0.2,0.6);
} else if(lastColWarningType==2){
int g=geometricObjects->AddLine(owner->pos,lastColWarning->pos,10,1,1);
if(owner->frontdir.dot(lastColWarning->midPos+lastColWarning->speed*20 - owner->midPos - owner->speed*20)<0)
geometricObjects->SetColor(g,1,0.2,0.2,0.6);
else
geometricObjects->SetColor(g,1,1,0.2,0.6);
}
#endif
}
bool CHoverAirMoveType::Update()
{
const float3 lastPos = owner->pos;
const float4 lastSpd = owner->speed;
AAirMoveType::Update();
if ((owner->IsStunned() && !owner->IsCrashing()) || owner->beingBuilt) {
wantedSpeed = ZeroVector;
UpdateAirPhysics();
return (HandleCollisions(collide && !owner->beingBuilt && (padStatus == PAD_STATUS_FLYING) && (aircraftState != AIRCRAFT_TAKEOFF)));
}
// allow us to stop if wanted (changes aircraft state)
if (wantToStop)
ExecuteStop();
if (aircraftState != AIRCRAFT_CRASHING) {
if (owner->UnderFirstPersonControl()) {
SetState(AIRCRAFT_FLYING);
const FPSUnitController& con = owner->fpsControlPlayer->fpsController;
const float3 forward = con.viewDir;
const float3 right = forward.cross(UpVector);
const float3 nextPos = lastPos + owner->speed;
float3 flatForward = forward;
flatForward.Normalize2D();
wantedSpeed = ZeroVector;
if (con.forward) wantedSpeed += flatForward;
if (con.back ) wantedSpeed -= flatForward;
if (con.right ) wantedSpeed += right;
if (con.left ) wantedSpeed -= right;
wantedSpeed.Normalize();
wantedSpeed *= maxSpeed;
if (!nextPos.IsInBounds()) {
owner->SetVelocityAndSpeed(ZeroVector);
}
UpdateAirPhysics();
wantedHeading = GetHeadingFromVector(flatForward.x, flatForward.z);
}
if (reservedPad != NULL) {
MoveToRepairPad();
if (padStatus >= PAD_STATUS_LANDING) {
flyState = FLY_LANDING;
}
}
}
switch (aircraftState) {
case AIRCRAFT_LANDED:
UpdateLanded();
break;
case AIRCRAFT_TAKEOFF:
UpdateTakeoff();
break;
case AIRCRAFT_FLYING:
UpdateFlying();
break;
case AIRCRAFT_LANDING:
UpdateLanding();
break;
case AIRCRAFT_HOVERING:
UpdateHovering();
break;
case AIRCRAFT_CRASHING: {
UpdateAirPhysics();
if ((CGround::GetHeightAboveWater(owner->pos.x, owner->pos.z) + 5.0f + owner->radius) > owner->pos.y) {
owner->ClearPhysicalStateBit(CSolidObject::PSTATE_BIT_CRASHING);
owner->KillUnit(NULL, true, false);
} else {
#define SPIN_DIR(o) ((o->id & 1) * 2 - 1)
wantedHeading = GetHeadingFromVector(owner->rightdir.x * SPIN_DIR(owner), owner->rightdir.z * SPIN_DIR(owner));
wantedHeight = 0.0f;
#undef SPIN_DIR
}
new CSmokeProjectile(owner, owner->midPos, gs->randVector() * 0.08f, 100 + gs->randFloat() * 50, 5, 0.2f, 0.4f);
} break;
}
if (lastSpd == ZeroVector && owner->speed != ZeroVector) { owner->script->StartMoving(false); }
if (lastSpd != ZeroVector && owner->speed == ZeroVector) { owner->script->StopMoving(); }
// Banking requires deltaSpeed.y = 0
deltaSpeed = owner->speed - lastSpd;
deltaSpeed.y = 0.0f;
// Turn and bank and move; update dirs
UpdateHeading();
UpdateBanking(aircraftState == AIRCRAFT_HOVERING);
return (HandleCollisions(collide && !owner->beingBuilt && (padStatus == PAD_STATUS_FLYING) && (aircraftState != AIRCRAFT_TAKEOFF)));
}
void CHoverAirMoveType::UpdateLanding()
{
const float3& pos = owner->pos;
const float4& spd = owner->speed;
// We want to land, and therefore cancel our speed first
wantedSpeed = ZeroVector;
// Hang around for a while so queued commands have a chance to take effect
if ((++waitCounter) < GAME_SPEED) {
UpdateAirPhysics();
return;
}
if (reservedLandingPos.x < 0.0f) {
if (CanLandAt(pos)) {
// found a landing spot
reservedLandingPos = pos;
goalPos = pos;
owner->Block();
owner->Deactivate();
owner->script->StopMoving();
} else {
if (goalPos.SqDistance2D(pos) < (30.0f * 30.0f)) {
// randomly pick another landing spot and try again
goalPos += (gs->randVector() * 300.0f);
goalPos.ClampInBounds();
// exact landing pos failed, make sure finishcommand is called anyway
progressState = AMoveType::Failed;
}
flyState = FLY_LANDING;
UpdateFlying();
return;
}
}
// We should wait until we actually have stopped smoothly
if (spd.SqLength2D() > 1.0f) {
UpdateFlying();
UpdateAirPhysics();
return;
}
// We have stopped, time to land
// NOTE: wantedHeight is interpreted as RELATIVE altitude
const float gh = CGround::GetHeightAboveWater(pos.x, pos.z);
const float gah = CGround::GetHeightReal(pos.x, pos.z);
float altitude = (wantedHeight = 0.0f);
// can we submerge and are we still above water?
if ((owner->unitDef->canSubmerge) && (gah < 0.0f)) {
altitude = pos.y - gah;
} else {
altitude = pos.y - gh;
}
UpdateAirPhysics();
// collision detection does not let us get
// closer to the ground than <radius> elmos
// (wrt. midPos.y)
if (altitude <= owner->radius) {
SetState(AIRCRAFT_LANDED);
}
}
void CHoverAirMoveType::UpdateFlying()
{
const float3& pos = owner->pos;
// const float4& spd = owner->speed;
// Direction to where we would like to be
float3 goalVec = goalPos - pos;
owner->restTime = 0;
// don't change direction for waypoints we just flew over and missed slightly
if (flyState != FLY_LANDING && owner->commandAI->HasMoreMoveCommands()) {
float3 goalDir = goalVec;
if ((goalDir != ZeroVector) && (goalVec.dot(goalDir.UnsafeANormalize()) < 1.0f)) {
goalVec = owner->frontdir;
}
}
const float goalDistSq2D = goalVec.SqLength2D();
const float gHeight = UseSmoothMesh()?
std::max(smoothGround->GetHeight(pos.x, pos.z), CGround::GetApproximateHeight(pos.x, pos.z)):
CGround::GetHeightAboveWater(pos.x, pos.z);
const bool closeToGoal = (flyState == FLY_ATTACKING)?
(goalDistSq2D < ( 400.0f)):
(goalDistSq2D < (maxDrift * maxDrift)) && (math::fabs(gHeight + wantedHeight - pos.y) < maxDrift);
if (closeToGoal) {
switch (flyState) {
case FLY_CRUISING: {
// NOTE: should CMD_LOAD_ONTO be here?
const bool isTransporter = (dynamic_cast<CTransportUnit*>(owner) != NULL);
const bool hasLoadCmds = isTransporter &&
!owner->commandAI->commandQue.empty() &&
(owner->commandAI->commandQue.front().GetID() == CMD_LOAD_ONTO ||
owner->commandAI->commandQue.front().GetID() == CMD_LOAD_UNITS);
// [?] transport aircraft need some time to detect that they can pickup
const bool canLoad = isTransporter && (++waitCounter < ((GAME_SPEED << 1) - 5));
const bool isBusy = IsUnitBusy(owner);
if (!CanLand(isBusy) || (canLoad && hasLoadCmds)) {
wantedSpeed = ZeroVector;
if (isTransporter) {
if (waitCounter > (GAME_SPEED << 1)) {
wantedHeight = orgWantedHeight;
}
SetState(AIRCRAFT_HOVERING);
return;
} else {
if (!isBusy) {
wantToStop = true;
// NOTE:
// this is not useful, next frame UpdateFlying()
// will change it to _LANDING because wantToStop
// is now true
SetState(AIRCRAFT_HOVERING);
return;
}
}
} else {
wantedHeight = orgWantedHeight;
SetState(AIRCRAFT_LANDING);
return;
}
} break;
case FLY_CIRCLING: {
if ((++waitCounter) > ((GAME_SPEED * 3) + 10)) {
if (airStrafe) {
float3 relPos = pos - circlingPos;
if (relPos.x < 0.0001f && relPos.x > -0.0001f) {
relPos.x = 0.0001f;
}
static CMatrix44f rot(0.0f, fastmath::PI / 4.0f, 0.0f);
// make sure the point is on the circle, go there in a straight line
goalPos = circlingPos + (rot.Mul(relPos.Normalize2D()) * goalDistance);
}
waitCounter = 0;
}
} break;
case FLY_ATTACKING: {
if (airStrafe) {
float3 relPos = pos - circlingPos;
if (relPos.x < 0.0001f && relPos.x > -0.0001f) {
relPos.x = 0.0001f;
}
CMatrix44f rot;
if (gs->randFloat() > 0.5f) {
rot.RotateY(0.6f + gs->randFloat() * 0.6f);
} else {
rot.RotateY(-(0.6f + gs->randFloat() * 0.6f));
}
// Go there in a straight line
goalPos = circlingPos + (rot.Mul(relPos.Normalize2D()) * goalDistance);
}
} break;
case FLY_LANDING: {
} break;
}
}
// not "close" to goal yet, so keep going
// use 2D math since goal is on the ground
// but we are not
goalVec.y = 0.0f;
// if we are close to our goal, we should
// adjust speed st. we never overshoot it
// (by respecting current brake-distance)
const float curSpeed = owner->speed.Length2D();
const float brakeDist = (0.5f * curSpeed * curSpeed) / decRate;
const float goalDist = goalVec.Length() + 0.1f;
const float goalSpeed =
(maxSpeed ) * (goalDist > brakeDist) +
(curSpeed - decRate) * (goalDist <= brakeDist);
if (goalDist > goalSpeed) {
// update our velocity and heading so long as goal is still
// further away than the distance we can cover in one frame
// we must use a variable-size "dead zone" to avoid freezing
// in mid-air or oscillation behavior at very close distances
// NOTE:
// wantedSpeed is a vector, so even aircraft with turnRate=0
// are coincidentally able to reach any goal by side-strafing
wantedHeading = GetHeadingFromVector(goalVec.x, goalVec.z);
wantedSpeed = (goalVec / goalDist) * goalSpeed;
} else {
// switch to hovering (if !CanLand()))
if (flyState != FLY_ATTACKING) {
ExecuteStop();
}
}
// redundant, done in Update()
// UpdateHeading();
UpdateAirPhysics();
// Point toward goal or forward - unless we just passed it to get to another goal
if ((flyState == FLY_ATTACKING) || (flyState == FLY_CIRCLING)) {
goalVec = circlingPos - pos;
} else {
const bool b0 = (flyState != FLY_LANDING && (owner->commandAI->HasMoreMoveCommands()));
const bool b1 = (goalDist < brakeDist && goalDist > 1.0f);
if (b0 && b1) {
goalVec = owner->frontdir;
} else {
goalVec = goalPos - pos;
}
}
if (goalVec.SqLength2D() > 1.0f) {
// update heading again in case goalVec changed
wantedHeading = GetHeadingFromVector(goalVec.x, goalVec.z);
}
}
void CTAAirMoveType::Update()
{
//Handy stuff. Wonder if there is a better way?
float3 &pos=owner->pos;
SyncedFloat3 &rightdir = owner->rightdir;
SyncedFloat3 &frontdir = owner->frontdir;
SyncedFloat3 &updir = owner->updir;
float3 &speed = owner->speed;
//This is only set to false after the plane has finished constructing
if (useHeading){
useHeading = false;
SetState(AIRCRAFT_TAKEOFF);
}
//Allow us to stop if wanted
if (wantToStop)
ExecuteStop();
float3 lastSpeed = speed;
if(owner->stunned){
wantedSpeed=ZeroVector;
UpdateAirPhysics();
} else {
#ifdef DIRECT_CONTROL_ALLOWED
if(owner->directControl){
DirectControlStruct* dc=owner->directControl;
SetState(AIRCRAFT_FLYING);
float3 forward=dc->viewDir;
float3 flatForward=forward;
flatForward.y=0;
flatForward.Normalize();
float3 right=forward.cross(UpVector);
wantedSpeed=ZeroVector;
if(dc->forward)
wantedSpeed+=flatForward;
if(dc->back)
wantedSpeed-=flatForward;
if(dc->right)
wantedSpeed+=right;
if(dc->left)
wantedSpeed-=right;
wantedSpeed.Normalize();
wantedSpeed*=maxSpeed;
UpdateAirPhysics();
wantedHeading=GetHeadingFromVector(flatForward.x,flatForward.z);
} else
#endif
{
if(reservedPad){
CUnit* unit=reservedPad->unit;
float3 relPos=unit->localmodel->GetPiecePos(reservedPad->piece);
float3 pos=unit->pos + unit->frontdir*relPos.z + unit->updir*relPos.y + unit->rightdir*relPos.x;
if(padStatus==0){
if(aircraftState!=AIRCRAFT_FLYING && aircraftState!=AIRCRAFT_TAKEOFF)
SetState(AIRCRAFT_FLYING);
goalPos=pos;
if(pos.distance(owner->pos)<400){
padStatus=1;
}
//geometricObjects->AddLine(owner->pos,pos,1,0,1);
} else if(padStatus==1){
if(aircraftState!=AIRCRAFT_FLYING)
SetState(AIRCRAFT_FLYING);
flyState=FLY_LANDING;
goalPos=pos;
reservedLandingPos=pos;
wantedHeight=pos.y-ground->GetHeight(pos.x,pos.z);
if(owner->pos.distance(pos)<3 || aircraftState==AIRCRAFT_LANDED){
padStatus=2;
}
//geometricObjects->AddLine(owner->pos,pos,10,0,1);
} else {
if(aircraftState!=AIRCRAFT_LANDED)
SetState(AIRCRAFT_LANDED);
owner->pos=pos;
owner->AddBuildPower(unit->unitDef->buildSpeed/30,unit);
owner->currentFuel = min (owner->unitDef->maxFuel, owner->currentFuel + (owner->unitDef->maxFuel / (GAME_SPEED * owner->unitDef->refuelTime)));
if(owner->health>=owner->maxHealth-1 && owner->currentFuel >= owner->unitDef->maxFuel){
airBaseHandler->LeaveLandingPad(reservedPad);
reservedPad=0;
padStatus=0;
goalPos=oldGoalPos;
SetState(AIRCRAFT_TAKEOFF);
}
}
}
//Main state handling
switch (aircraftState) {
case AIRCRAFT_LANDED:
UpdateLanded();
break;
case AIRCRAFT_TAKEOFF:
UpdateTakeoff();
break;
case AIRCRAFT_FLYING:
UpdateFlying();
break;
case AIRCRAFT_LANDING:
UpdateLanding();
break;
case AIRCRAFT_HOVERING:
UpdateHovering();
break;
}
}
}
deltaSpeed = speed - lastSpeed;
deltaSpeed.y = 0; //Banking requires this
//Turn and bank and move
UpdateHeading();
UpdateBanking(aircraftState == AIRCRAFT_HOVERING); //updates dirs
owner->midPos=pos+frontdir*owner->relMidPos.z + updir*owner->relMidPos.y + rightdir*owner->relMidPos.x;
//Push other units out of the way
if(pos!=oldpos && aircraftState!=AIRCRAFT_TAKEOFF && padStatus==0){
oldpos=pos;
if(!dontCheckCol){
vector<CUnit*> nearUnits=qf->GetUnitsExact(pos,owner->radius+6);
vector<CUnit*>::iterator ui;
for(ui=nearUnits.begin();ui!=nearUnits.end();++ui){
if((*ui)->transporter)
continue;
float sqDist=(pos-(*ui)->pos).SqLength();
float totRad=owner->radius+(*ui)->radius;
if(sqDist<totRad*totRad && sqDist!=0){
float dist=sqrt(sqDist);
float3 dif=pos-(*ui)->pos;
dif/=dist;
if((*ui)->mass>=100000 || (*ui)->immobile){
pos-=dif*(dist-totRad);
owner->midPos=pos+owner->frontdir*owner->relMidPos.z + owner->updir*owner->relMidPos.y + owner->rightdir*owner->relMidPos.x;
owner->speed*=0.99f;
// float damage=((*ui)->speed-owner->speed).SqLength(); //dont think they should take damage when they dont try to avoid it
// owner->DoDamage(DamageArray()*damage,0,ZeroVector);
// (*ui)->DoDamage(DamageArray()*damage,0,ZeroVector);
} else {
float part=owner->mass/(owner->mass+(*ui)->mass);
pos-=dif*(dist-totRad)*(1-part);
owner->midPos=pos+owner->frontdir*owner->relMidPos.z + owner->updir*owner->relMidPos.y + owner->rightdir*owner->relMidPos.x;
CUnit* u=(CUnit*)(*ui);
u->pos+=dif*(dist-totRad)*(part);
u->midPos=u->pos+u->frontdir*u->relMidPos.z + u->updir*u->relMidPos.y + u->rightdir*u->relMidPos.x;
float colSpeed=-owner->speed.dot(dif)+u->speed.dot(dif);
owner->speed+=dif*colSpeed*(1-part);
u->speed-=dif*colSpeed*(part);
// float damage=(((*ui)->speed-owner->speed)*0.1f).SqLength();
// owner->DoDamage(DamageArray()*damage,0,ZeroVector);
// (*ui)->DoDamage(DamageArray()*damage,0,ZeroVector);
// owner->speed*=0.99f;
}
}
}
}
if(pos.x<0){
pos.x+=0.6f;
owner->midPos.x+=0.6f;
} else if(pos.x>float3::maxxpos){
pos.x-=0.6f;
owner->midPos.x-=0.6f;
}
if(pos.z<0){
pos.z+=0.6f;
owner->midPos.z+=0.6f;
}else if(pos.z>float3::maxzpos){
pos.z-=0.6f;
owner->midPos.z-=0.6f;
}
}
}
void CAirMoveType::Update(void)
{
float3& pos = owner->pos;
// note: this is only set to false after
// the plane has finished constructing
if (useHeading) {
useHeading = false;
SetState(AIRCRAFT_TAKEOFF);
}
if (owner->stunned) {
UpdateAirPhysics(0, lastAileronPos, lastElevatorPos, 0, ZeroVector);
goto EndNormalControl;
}
if (owner->directControl && !(aircraftState == AIRCRAFT_CRASHING)) {
SetState(AIRCRAFT_FLYING);
DirectControlStruct* dc = owner->directControl;
inefficientAttackTime = 0;
if (dc->forward || dc->back || dc->left || dc->right) {
float aileron = 0;
float elevator = 0;
if (dc->forward)
elevator -= 1;
if (dc->back)
elevator += 1;
if (dc->right)
aileron += 1;
if (dc->left)
aileron -= 1;
UpdateAirPhysics(0, aileron, elevator, 1, owner->frontdir);
maneuver = 0;
goto EndNormalControl; // bad
}
}
if (reservedPad) {
CUnit* unit = reservedPad->GetUnit();
float3 relPos = unit->script->GetPiecePos(reservedPad->GetPiece());
float3 pos = unit->pos + (unit->frontdir * relPos.z) + (unit->updir * relPos.y) + (unit->rightdir * relPos.x);
if (padStatus == 0) {
if (aircraftState != AIRCRAFT_FLYING && aircraftState != AIRCRAFT_TAKEOFF) {
SetState(AIRCRAFT_FLYING);
}
goalPos = pos;
if (pos.SqDistance2D(owner->pos) < (400*400)) {
padStatus = 1;
}
} else if (padStatus == 1) {
if (aircraftState != AIRCRAFT_LANDING) {
SetState(AIRCRAFT_LANDING);
}
goalPos = pos;
reservedLandingPos = pos;
if (owner->pos.SqDistance(pos) < 9 || aircraftState == AIRCRAFT_LANDED) {
padStatus = 2;
}
} else {
if (aircraftState != AIRCRAFT_LANDED) {
SetState(AIRCRAFT_LANDED);
}
owner->pos = pos;
owner->AddBuildPower(unit->unitDef->buildSpeed / GAME_SPEED, unit);
owner->currentFuel = std::min(owner->unitDef->maxFuel, owner->currentFuel + (owner->unitDef->maxFuel / (GAME_SPEED * owner->unitDef->refuelTime)));
if (owner->health >= owner->maxHealth - 1 && owner->currentFuel >= owner->unitDef->maxFuel) {
// repaired and filled up, leave the pad
airBaseHandler->LeaveLandingPad(reservedPad);
reservedPad = 0;
padStatus = 0;
goalPos = oldGoalPos;
SetState(AIRCRAFT_TAKEOFF);
}
}
} else if ((owner->unitDef->maxFuel > 0.0f && owner->currentFuel <= 0.0f) &&
padStatus == 0 && maxWantedSpeed > 0.0f) {
// keep us in the air to reach our landing goalPos
// (which is hopefully in the vicinity of a pad)
SetState(AIRCRAFT_FLYING);
}
switch (aircraftState) {
case AIRCRAFT_FLYING: {
#ifdef DEBUG_AIRCRAFT
GML_RECMUTEX_LOCK(sel); // Update
if (selectedUnits.selectedUnits.find(this) != selectedUnits.selectedUnits.end()) {
logOutput.Print("Flying %i %i %.1f %i", moveState, fireState, inefficientAttackTime, (int) isFighter);
}
#endif
owner->restTime = 0;
// somewhat hackish, but planes that have attack orders
// while no pad is available would otherwise continue
// attacking even if out of fuel
bool continueAttack =
(!reservedPad && ((owner->currentFuel > 0.0f) || owner->unitDef->maxFuel <= 0.0f));
if (continueAttack && ((owner->userTarget && !owner->userTarget->isDead) || owner->userAttackGround)) {
inefficientAttackTime = std::min(inefficientAttackTime, float(gs->frameNum) - owner->lastFireWeapon);
if (owner->userTarget) {
goalPos = owner->userTarget->pos;
} else {
goalPos = owner->userAttackPos;
}
if (maneuver) {
UpdateManeuver();
inefficientAttackTime = 0;
} else if (isFighter && goalPos.SqDistance(pos) < Square(owner->maxRange * 4)) {
inefficientAttackTime++;
UpdateFighterAttack();
} else {
inefficientAttackTime = 0;
UpdateAttack();
}
} else {
inefficientAttackTime = 0;
UpdateFlying(wantedHeight, 1);
}
} break;
case AIRCRAFT_LANDED:
inefficientAttackTime = 0;
UpdateLanded();
break;
case AIRCRAFT_LANDING:
inefficientAttackTime = 0;
UpdateLanding();
break;
case AIRCRAFT_CRASHING:
owner->crashing = true;
UpdateAirPhysics(crashRudder, crashAileron, crashElevator, 0, owner->frontdir);
new CSmokeProjectile(owner->midPos, gs->randVector() * 0.08f, 100 + gs->randFloat() * 50, 5, 0.2f, owner, 0.4f);
if (!(gs->frameNum & 3) && std::max(0.f, ground->GetApproximateHeight(pos.x, pos.z)) + 5 + owner->radius > pos.y)
owner->KillUnit(true, false, 0);
break;
case AIRCRAFT_TAKEOFF:
UpdateTakeOff(wantedHeight);
break;
default:
break;
}
EndNormalControl:
// handle collisions
if (pos != oldpos) {
oldpos = pos;
bool hitBuilding = false;
if (collide && (aircraftState == AIRCRAFT_FLYING || aircraftState == AIRCRAFT_CRASHING)) {
vector<CUnit*> nearUnits = qf->GetUnitsExact(pos, owner->radius + 6);
vector<CUnit*>::iterator ui;
for (ui = nearUnits.begin(); ui != nearUnits.end(); ++ui) {
float sqDist = (pos - (*ui)->pos).SqLength();
float totRad = owner->radius + (*ui)->radius;
if (sqDist < totRad * totRad && sqDist != 0) {
float dist = sqrt(sqDist);
float3 dif = pos - (*ui)->pos;
if (dist > 0.0f) {
dif /= dist;
}
if ((*ui)->immobile) {
pos -= dif * (dist - totRad);
owner->UpdateMidPos();
owner->speed *= 0.99f;
float damage = (((*ui)->speed - owner->speed) * 0.1f).SqLength();
owner->DoDamage(DamageArray() * damage, 0, ZeroVector);
(*ui)->DoDamage(DamageArray() * damage, 0, ZeroVector);
hitBuilding = true;
} else {
float part = owner->mass / (owner->mass + (*ui)->mass);
pos -= dif * (dist - totRad) * (1 - part);
owner->UpdateMidPos();
CUnit* u = (CUnit*)(*ui);
u->pos += dif * (dist - totRad) * (part);
u->UpdateMidPos();
float damage = (((*ui)->speed - owner->speed) * 0.1f).SqLength();
owner->DoDamage(DamageArray() * damage, 0, ZeroVector);
(*ui)->DoDamage(DamageArray() * damage, 0, ZeroVector);
owner->speed *= 0.99f;
}
}
}
if (hitBuilding && owner->crashing) {
// if our collision sphere overlapped with that
// of a building and we're crashing, die right
// now rather than waiting until we're close
// enough to the ground (which may never happen
// if eg. we're going down over a crowded field
// of windmills due to col-det)
owner->KillUnit(true, false, 0);
return;
}
}
if (pos.x < 0) {
pos.x += 1.5f;
owner->midPos.x += 1.5f;
} else if (pos.x > float3::maxxpos) {
pos.x -= 1.5f;
owner->midPos.x -= 1.5f;
}
if (pos.z < 0) {
pos.z += 1.5f;
owner->midPos.z += 1.5f;
} else if (pos.z > float3::maxzpos) {
pos.z -= 1.5f;
owner->midPos.z -= 1.5f;
}
}
#ifdef DEBUG_AIRCRAFT
if (lastColWarningType == 1) {
int g = geometricObjects->AddLine(owner->pos, lastColWarning->pos, 10, 1, 1);
geometricObjects->SetColor(g, 0.2f, 1, 0.2f, 0.6f);
} else if (lastColWarningType == 2) {
int g = geometricObjects->AddLine(owner->pos, lastColWarning->pos, 10, 1, 1);
if (owner->frontdir.dot(lastColWarning->midPos + lastColWarning->speed * 20 - owner->midPos - owner->speed * 20) < 0)
geometricObjects->SetColor(g, 1, 0.2f, 0.2f, 0.6f);
else
geometricObjects->SetColor(g, 1, 1, 0.2f, 0.6f);
}
#endif
}
bool CHoverAirMoveType::Update()
{
float3& pos = owner->pos;
float3& speed = owner->speed;
AAirMoveType::Update();
if (owner->stunned || owner->beingBuilt) {
wantedSpeed = ZeroVector;
wantToStop = true;
}
// Allow us to stop if wanted
if (wantToStop) {
ExecuteStop();
}
const float3 lastSpeed = speed;
if (owner->fpsControlPlayer != NULL) {
SetState(AIRCRAFT_FLYING);
const FPSUnitController& con = owner->fpsControlPlayer->fpsController;
const float3 forward = con.viewDir;
const float3 right = forward.cross(UpVector);
const float3 nextPos = pos + speed;
float3 flatForward = forward;
flatForward.y = 0.0f;
flatForward.Normalize();
wantedSpeed = ZeroVector;
if (con.forward) wantedSpeed += flatForward;
if (con.back ) wantedSpeed -= flatForward;
if (con.right ) wantedSpeed += right;
if (con.left ) wantedSpeed -= right;
wantedSpeed.Normalize();
wantedSpeed *= maxSpeed;
if (!nextPos.IsInBounds()) {
speed = ZeroVector;
}
UpdateAirPhysics();
wantedHeading = GetHeadingFromVector(flatForward.x, flatForward.z);
} else {
if (reservedPad != NULL) {
MoveToRepairPad();
if (padStatus >= 1) {
flyState = FLY_LANDING;
}
}
// Main state handling
switch (aircraftState) {
case AIRCRAFT_LANDED:
UpdateLanded();
break;
case AIRCRAFT_TAKEOFF:
UpdateTakeoff();
break;
case AIRCRAFT_FLYING:
UpdateFlying();
break;
case AIRCRAFT_LANDING:
UpdateLanding();
break;
case AIRCRAFT_HOVERING:
UpdateHovering();
break;
case AIRCRAFT_CRASHING:
break;
}
}
// Banking requires deltaSpeed.y = 0
deltaSpeed = speed - lastSpeed;
deltaSpeed.y = 0.0f;
// Turn and bank and move; update dirs
UpdateHeading();
UpdateBanking(aircraftState == AIRCRAFT_HOVERING);
return (HandleCollisions());
}
void CHoverAirMoveType::UpdateFlying()
{
const float3& pos = owner->pos;
const float3& speed = owner->speed;
// Direction to where we would like to be
float3 goalVec = goalPos - pos;
owner->restTime = 0;
// don't change direction for waypoints we just flew over and missed slightly
if (flyState != FLY_LANDING && owner->commandAI->HasMoreMoveCommands()) {
float3 goalDir = goalVec;
if ((goalDir != ZeroVector) && (goalDir.UnsafeANormalize()).SqDistance(goalVec) < 1.0f) {
goalVec = owner->frontdir;
}
}
const float goalDistSq2D = goalVec.SqLength2D();
const float gHeight = UseSmoothMesh()?
std::max(smoothGround->GetHeight(pos.x, pos.z), ground->GetApproximateHeight(pos.x, pos.z)):
ground->GetHeightAboveWater(pos.x, pos.z);
const bool closeToGoal = (flyState == FLY_ATTACKING)?
(goalDistSq2D < ( 400.0f)):
(goalDistSq2D < (maxDrift * maxDrift)) && (math::fabs(gHeight - pos.y + wantedHeight) < maxDrift);
if (closeToGoal) {
switch (flyState) {
case FLY_CRUISING: {
const bool hasMoreMoveCmds = owner->commandAI->HasMoreMoveCommands();
const bool noland = dontLand || !autoLand || hasMoreMoveCmds;
// NOTE: should CMD_LOAD_ONTO be here?
const bool trans = (dynamic_cast<CTransportUnit*>(owner) != NULL);
const bool hasLoadCmds = trans &&
!owner->commandAI->commandQue.empty() &&
(owner->commandAI->commandQue.front().GetID() == CMD_LOAD_ONTO ||
owner->commandAI->commandQue.front().GetID() == CMD_LOAD_UNITS);
// [?] transport aircraft need some time to detect that they can pickup
const bool canLoad = trans && (++waitCounter < ((GAME_SPEED << 1) - 5));
if (noland || (canLoad && hasLoadCmds)) {
if (trans) {
wantedSpeed = ZeroVector;
SetState(AIRCRAFT_HOVERING);
if (waitCounter > (GAME_SPEED << 1)) {
wantedHeight = orgWantedHeight;
}
} else {
wantedSpeed = ZeroVector;
if (!hasMoreMoveCmds) {
wantToStop = true;
SetState(AIRCRAFT_HOVERING);
}
}
} else {
wantedHeight = orgWantedHeight;
SetState(AIRCRAFT_LANDING);
}
return;
}
case FLY_CIRCLING:
// break;
if ((++waitCounter) > ((GAME_SPEED * 3) + 10)) {
if (airStrafe) {
float3 relPos = pos - circlingPos;
if (relPos.x < 0.0001f && relPos.x > -0.0001f) {
relPos.x = 0.0001f;
}
relPos.y = 0.0f;
relPos.Normalize();
static CMatrix44f rot(0.0f,fastmath::PI/4.0f,0.0f);
float3 newPos = rot.Mul(relPos);
// Make sure the point is on the circle
newPos = newPos * goalDistance;
// Go there in a straight line
goalPos = circlingPos + newPos;
}
waitCounter = 0;
}
break;
case FLY_ATTACKING: {
if (airStrafe) {
float3 relPos = pos - circlingPos;
if (relPos.x < 0.0001f && relPos.x > -0.0001f) {
relPos.x = 0.0001f;
}
relPos.y = 0;
relPos.Normalize();
CMatrix44f rot;
if (gs->randFloat() > 0.5f) {
rot.RotateY(0.6f + gs->randFloat() * 0.6f);
} else {
rot.RotateY(-(0.6f + gs->randFloat() * 0.6f));
}
float3 newPos = rot.Mul(relPos);
newPos = newPos * goalDistance;
// Go there in a straight line
goalPos = circlingPos + newPos;
}
break;
}
case FLY_LANDING: {
break;
}
}
}
// not there yet, so keep going
goalVec.y = 0.0f;
// if we are close to our goal and not in attack mode,
// we should go slow enough to be able to break in time
const float goalDist = goalVec.Length() + 0.1f;
const float approachSpeed =
(flyState != FLY_ATTACKING && goalDist < brakeDistance)?
(goalDist / (speed.Length2D() + 0.01f) * decRate):
maxSpeed;
wantedSpeed = (goalVec / goalDist) * approachSpeed;
UpdateAirPhysics();
// Point toward goal or forward - unless we just passed it to get to another goal
if ((flyState == FLY_ATTACKING) || (flyState == FLY_CIRCLING)) {
goalVec = circlingPos - pos;
} else {
const bool b0 = (flyState != FLY_LANDING && (owner->commandAI->HasMoreMoveCommands()));
const bool b1 = (goalDist < 120.0f) && ((goalVec.SafeNormalize()).SqDistance(goalVec) > 1.0f);
if (b0 && b1) {
goalVec = owner->frontdir;
} else {
goalVec = goalPos - pos;
}
}
if (goalVec.SqLength2D() > 1.0f) {
wantedHeading = GetHeadingFromVector(goalVec.x, goalVec.z);
}
}
void CAirMoveType::UpdateManeuver(void)
{
#ifdef DEBUG_AIRCRAFT
GML_RECMUTEX_LOCK(sel); // UpdateManuever
if (selectedUnits.selectedUnits.find(this) != selectedUnits.selectedUnits.end()) {
logOutput.Print("UpdataMan %i %i", maneuver, maneuverSubState);
}
#endif
float speedf = owner->speed.Length();
switch (maneuver) {
case 1: {
// Immelman
int aileron = 0, elevator = 0;
if (owner->updir.y > 0.0f) {
if (owner->rightdir.y > maxAileron * speedf) {
aileron = 1;
} else if (owner->rightdir.y < -maxAileron * speedf) {
aileron = -1;
}
}
if (fabs(owner->rightdir.y) < maxAileron * 3.0f * speedf || owner->updir.y < 0.0f)
elevator = 1;
UpdateAirPhysics(0, aileron, elevator, 1, owner->frontdir);
if ((owner->updir.y < 0.0f && owner->frontdir.y < 0.0f) || speedf < 0.8f)
maneuver = 0;
// some seem to report that the "unlimited altitude" thing is because of these maneuvers
if (owner->pos.y - ground->GetApproximateHeight(owner->pos.x, owner->pos.z) > wantedHeight * 4.0f)
maneuver = 0;
break;
}
case 2: {
// inverted Immelman
int aileron = 0, elevator = 0;
if (maneuverSubState == 0) {
if (owner->rightdir.y >= 0.0f) {
aileron = -1;
} else {
aileron = 1;
}
}
if (owner->frontdir.y < -0.7f)
maneuverSubState = 1;
if (maneuverSubState == 1 || owner->updir.y < 0.0f)
elevator = 1;
UpdateAirPhysics(0, aileron, elevator, 1, owner->frontdir);
if ((owner->updir.y > 0.0f && owner->frontdir.y > 0.0f && maneuverSubState == 1) || speedf < 0.2f)
maneuver = 0;
break;
}
default:
UpdateAirPhysics(0, 0, 0, 1, owner->frontdir);
maneuver = 0;
break;
}
}
void CTAAirMoveType::UpdateLanding()
{
float3& pos = owner->pos;
float3& speed = owner->speed;
// We want to land, and therefore cancel our speed first
wantedSpeed = ZeroVector;
waitCounter++;
// Hang around for a while so queued commands have a chance to take effect
if (waitCounter < 30) {
UpdateAirPhysics();
return;
}
if (reservedLandingPos.x < 0) {
if (CanLandAt(pos)) {
// found a landing spot
reservedLandingPos = pos;
goalPos = pos;
owner->physicalState = CSolidObject::OnGround;
owner->Block();
owner->physicalState = CSolidObject::Flying;
owner->Deactivate();
owner->script->StopMoving();
} else {
if (goalPos.SqDistance2D(pos) < 900) {
goalPos = goalPos + gs->randVector() * 300;
goalPos.CheckInBounds();
}
flyState = FLY_LANDING;
UpdateFlying();
return;
}
}
// We should wait until we actually have stopped smoothly
if (speed.SqLength2D() > 1.0f) {
UpdateFlying();
return;
}
// We have stopped, time to land
const float gah = ground->GetApproximateHeight(pos.x, pos.z);
float h = 0.0f;
// if aircraft submergible and above water we want height of ocean floor
if ((owner->unitDef->canSubmerge) && (gah < 0.0f)) {
h = pos.y - gah;
wantedHeight = gah;
} else {
h = pos.y - ground->GetHeightAboveWater(pos.x, pos.z);
wantedHeight = -2.0;
}
UpdateAirPhysics();
if (h <= 0) {
SetState(AIRCRAFT_LANDED);
pos.y = gah;
}
}
void CAirMoveType::UpdateFighterAttack(void)
{
float3 &pos = owner->pos;
SyncedFloat3 &rightdir = owner->rightdir;
SyncedFloat3 &frontdir = owner->frontdir;
SyncedFloat3 &updir = owner->updir;
float3 &speed = owner->speed;
float speedf = owner->speed.Length();
if (speedf < 0.01f) {
UpdateAirPhysics(0, 0, 0, 1, owner->frontdir);
return;
}
if (!((gs->frameNum + owner->id) & 3))
CheckForCollision();
bool groundTarget = !owner->userTarget || !owner->userTarget->unitDef->canfly || owner->userTarget->unitDef->hoverAttack;
bool airTarget = owner->userTarget && owner->userTarget->unitDef->canfly && !owner->userTarget->unitDef->hoverAttack; //only "real" aircrafts (non gunship)
if (groundTarget) {
if (frontdir.dot(goalPos - pos) < 0 && (pos - goalPos).SqLength() < turnRadius * turnRadius * (loopbackAttack ? 4 : 1)) {
float3 dif = pos - goalPos;
dif.y = 0;
dif.Normalize();
goalPos = goalPos + dif * turnRadius * 4;
} else if (loopbackAttack && !airTarget) {
bool hasFired = false;
if (!owner->weapons.empty() && owner->weapons[0]->reloadStatus > gs->frameNum && owner->weapons[0]->salvoLeft == 0)
hasFired = true;
if (frontdir.dot(goalPos - pos) < owner->maxRange * (hasFired ? 1.0f : 0.7f))
maneuver = 1;
} else if (frontdir.dot(goalPos - pos) < owner->maxRange * 0.7f) {
goalPos += exitVector * (owner->userTarget ? owner->userTarget->radius + owner->radius + 10 : owner->radius + 40);
}
}
float3 tgp = goalPos + (goalPos - oldGoalPos) * 8;
oldGoalPos = goalPos;
goalPos = tgp;
float goalLength = (goalPos - pos).Length();
float3 goalDir =
(goalLength > 0.0f)?
(goalPos - pos) / goalLength:
ZeroVector;
float aileron = 0;
float rudder = 0;
float elevator = 0;
float engine = 0;
float gHeight = ground->GetHeight(pos.x, pos.z);
float goalDotRight = rightdir.dot(goalDir);
float goalDotFront = goalDir.dot(frontdir) * 0.5f + 0.501f;
if (goalDotFront != 0.0f) {
goalDotRight /= goalDotFront;
}
if (goalDir.dot(frontdir) < -0.2f + inefficientAttackTime * 0.002f && frontdir.y > -0.2f && speedf > 2.0f && gs->randFloat() > 0.996f)
maneuver = 1;
if (goalDir.dot(frontdir) < -0.2f + inefficientAttackTime * 0.002f && fabs(frontdir.y) < 0.2f && gs->randFloat() > 0.996f && gHeight + 400 < pos.y) {
maneuver = 2;
maneuverSubState = 0;
}
// roll
if (speedf > 0.45f && pos.y + owner->speed.y * 60 * fabs(frontdir.y) + std::min(0.0f, float(updir.y)) * 150 > gHeight + 60 + fabs(rightdir.y) * 150) {
float goalBankDif = goalDotRight + rightdir.y * 0.2f;
if (goalBankDif > maxAileron * speedf * 4.0f) {
aileron = 1;
} else if (goalBankDif < -maxAileron * speedf * 4.0f) {
aileron = -1;
} else {
aileron = goalBankDif / (maxAileron * speedf * 4.0f);
}
} else {
if (rightdir.y > 0.0f) {
if (rightdir.y > maxAileron * speedf || frontdir.y < -0.7f) {
aileron = 1;
} else {
if (speedf > 0.0f) {
aileron = rightdir.y / (maxAileron * speedf);
}
}
} else {
if (rightdir.y < -maxAileron * speedf || frontdir.y < -0.7f) {
aileron = -1;
} else {
if (speedf > 0.0f) {
aileron = rightdir.y / (maxAileron * speedf);
}
}
}
}
// yaw
if (pos.y > gHeight + 30) {
if (goalDotRight < -maxRudder * speedf) {
rudder = -1;
} else if (goalDotRight > maxRudder * speedf) {
rudder = 1;
} else {
if (speedf > 0.0f) {
rudder = goalDotRight / (maxRudder * speedf);
}
}
}
float upside = 1;
if (updir.y < -0.3f)
upside = -1;
// pitch
if (speedf < 1.5f) {
if (frontdir.y < 0.0f) {
elevator = upside;
} else if (frontdir.y > 0.0f) {
elevator = -upside;
}
} else {
float gHeight2 = ground->GetHeight(pos.x + speed.x * 40, pos.z + speed.z * 40);
float hdif = std::max(gHeight, gHeight2) + 60 - pos.y - frontdir.y * speedf * 20;
float minPitch = 1.0f; // min(1.0f, hdif / (maxElevator * speedf * speedf * 20));
if (hdif < -(maxElevator * speedf * speedf * 20)) {
minPitch = -1;
} else if (hdif > (maxElevator * speedf * speedf * 20)) {
minPitch = 1;
} else {
minPitch = hdif / (maxElevator * speedf * speedf * 20);
}
// } else {
if (lastColWarning && lastColWarningType == 2 && frontdir.dot(lastColWarning->pos + lastColWarning->speed * 20 - pos-owner->speed * 20) < 0) {
/*
float pitchMod = (updir.y > 0.0f)? 1: -1;
if (lastColWarning->pos.y > pos.y)
elevator = -pitchMod;
else
elevator = pitchMod;
*/
elevator = (updir.dot(lastColWarning->midPos - owner->midPos) > 0.0f)? -1 : 1;
} else {
float hdif = goalDir.dot(updir);
if (hdif < -maxElevator * speedf) {
elevator = -1;
} else if (hdif > maxElevator * speedf) {
elevator = 1;
} else {
elevator = hdif / (maxElevator * speedf);
}
}
if (elevator * upside < minPitch)
elevator = minPitch * upside;
}
#ifdef DEBUG_AIRCRAFT
GML_RECMUTEX_LOCK(sel); // UpdateFighterAttack
if (selectedUnits.selectedUnits.find(this) != selectedUnits.selectedUnits.end()){
logOutput.Print("FAttack %.1f %.1f %.2f", pos.y - gHeight, goalLength, goalDir.dot(frontdir));
}
#endif
if (groundTarget)
engine = 1;
else
engine = std::min(1.f, (float)(goalLength / owner->maxRange + 1 - goalDir.dot(frontdir) * 0.7f));
UpdateAirPhysics(rudder, aileron, elevator, engine, owner->frontdir);
}
void CAirMoveType::UpdateFlying(float wantedHeight,float engine)
{
float3 &pos = owner->pos;
float3 &rightdir = owner->rightdir;
float3 &frontdir = owner->frontdir;
float3 &updir = owner->updir;
float3 &speed = owner->speed;
float speedf=speed.Length();
float goalLength=(goalPos-pos).Length();
float3 goalDir=(goalPos-pos)/goalLength;
goalDir.Normalize();
float aileron=0;
float rudder=0;
float elevator=0;
float gHeight=ground->GetHeight(pos.x,pos.z);
if(!((gs->frameNum+owner->id)&3))
CheckForCollision();
float otherThreat=0;
float3 otherDir;
if(lastColWarning){
float3 otherDif=lastColWarning->pos-pos;
float otherLength=otherDif.Length();
otherDir=otherDif/otherLength;
otherThreat=max(1200.f,goalLength)/otherLength*0.036;
}
float goalDot=rightdir.dot(goalDir);
goalDot/=goalDir.dot(frontdir)*0.5+0.501;
if(goalDir.dot(frontdir)<-0.1 && goalLength<turnRadius
#ifdef DIRECT_CONTROL_ALLOWED
&& (!owner->directControl || owner->directControl->mouse2)
#endif
)
goalDot=-goalDot;
if(lastColWarning){
goalDot-=otherDir.dot(rightdir)*otherThreat;
}
//roll
if(speedf>1.5 && pos.y+speed.y*10>gHeight+wantedHeight*0.6){
float goalBankDif=goalDot+rightdir.y*0.5;
if(goalBankDif>maxAileron*speedf*4 && rightdir.y>-maxBank){
aileron=1;
} else if(goalBankDif<-maxAileron*speedf*4 && rightdir.y<maxBank){
aileron=-1;
} else {
if(fabs(rightdir.y)<maxBank)
aileron=goalBankDif/(maxAileron*speedf*4);
else {
if(rightdir.y<0 && goalBankDif<0)
aileron=-1;
else if(rightdir.y>0 && goalBankDif>0)
aileron=1;
}
}
} else {
if(rightdir.y>0.01){
aileron=1;
} else if(rightdir.y<-0.01){
aileron=-1;
}
}
//yaw
if(pos.y>gHeight+15){
if(goalDot<-maxRudder*speedf*2){
rudder=-1;;
} else if(goalDot>maxRudder*speedf*2){
rudder=1;
} else {
rudder=goalDot/(maxRudder*speedf*2);
}
}
//pitch
if(speedf>0.8){
if(lastColWarningType==2 && frontdir.dot(lastColWarning->midPos+lastColWarning->speed*20 - owner->midPos - owner->speed*20)<0){
/* float pitchMod=updir.y>0?1:-1;
if(lastColWarning->pos.y>pos.y)
elevator=-pitchMod;
else
elevator=pitchMod;
/*/ elevator=updir.dot(lastColWarning->midPos-owner->midPos)>0?-1:1;/**/
} else {
float gHeight2=ground->GetHeight(pos.x+speed.x*40,pos.z+speed.z*40);
float hdif=max(gHeight,gHeight2)+wantedHeight-pos.y-frontdir.y*speedf*20;
if(hdif<-(maxElevator*speedf*speedf*20) && frontdir.y>-maxPitch){
elevator=-1;
} else if(hdif>(maxElevator*speedf*speedf*20) && frontdir.y<maxPitch){
elevator=1;
} else {
if(fabs(frontdir.y)<maxPitch)
elevator=hdif/(maxElevator*speedf*speedf*20);
}
}
} else {
if(frontdir.y<-0.1){
elevator=1;
} else if(frontdir.y>0.15){
elevator=-1;
}
}
UpdateAirPhysics(rudder,aileron,elevator,engine,owner->frontdir);
}
void CAirMoveType::UpdateFighterAttack(void)
{
float3 &pos = owner->pos;
float3 &rightdir = owner->rightdir;
float3 &frontdir = owner->frontdir;
float3 &updir = owner->updir;
float3 &speed = owner->speed;
float speedf=owner->speed.Length();
if(speedf<0.01){
UpdateAirPhysics(0,0,0,1,owner->frontdir);
return;
}
if(!((gs->frameNum+owner->id)&3))
CheckForCollision();
bool groundTarget=!owner->userTarget || !owner->userTarget->unitDef->canfly;
if(groundTarget){
if(frontdir.dot(goalPos-pos)<0 && (pos-goalPos).SqLength()<turnRadius*turnRadius){
float3 dif=pos-goalPos;
dif.y=0;
dif.Normalize();
goalPos=goalPos+dif*turnRadius*4;
} else if(frontdir.dot(goalPos-pos)<owner->maxRange*0.7){
goalPos+=exitVector*(owner->userTarget?owner->userTarget->radius+owner->radius+10:owner->radius+40);
}
}
float3 tgp=goalPos+(goalPos-oldGoalPos)*8;
oldGoalPos=goalPos;
goalPos=tgp;
float goalLength=(goalPos-pos).Length();
float3 goalDir=(goalPos-pos)/goalLength;
float aileron=0;
float rudder=0;
float elevator=0;
float engine=0;
float gHeight=ground->GetHeight(pos.x,pos.z);
float goalDot=rightdir.dot(goalDir);
goalDot/=goalDir.dot(frontdir)*0.5+0.501;
if(goalDir.dot(frontdir)<-0.2+inefficientAttackTime*0.002 && frontdir.y>-0.2 && speedf>2.0 && gs->randFloat()>0.996)
maneuver=1;
if(goalDir.dot(frontdir)<-0.2+inefficientAttackTime*0.002 && fabs(frontdir.y)<0.2 && gs->randFloat()>0.996 && gHeight+400<pos.y){
maneuver=2;
maneuverSubState=0;
}
//roll
if(speedf>0.45 && pos.y+owner->speed.y*60*fabs(frontdir.y)+min(0.f,updir.y)*150>gHeight+60+fabs(rightdir.y)*150){
float goalBankDif=goalDot+rightdir.y*0.2;
if(goalBankDif>maxAileron*speedf*4){
aileron=1;
} else if(goalBankDif<-maxAileron*speedf*4){
aileron=-1;
} else {
aileron=goalBankDif/(maxAileron*speedf*4);
}
} else {
if(rightdir.y>0){
if(rightdir.y>maxAileron*speedf || frontdir.y<-0.7)
aileron=1;
else
aileron=rightdir.y/(maxAileron*speedf);
} else {
if(rightdir.y<-maxAileron*speedf || frontdir.y<-0.7)
aileron=-1;
else
aileron=rightdir.y/(maxAileron*speedf);
}
}
//yaw
if(pos.y>gHeight+30){
if(goalDot<-maxRudder*speedf){
rudder=-1;
} else if(goalDot>maxRudder*speedf){
rudder=1;
} else {
rudder=goalDot/(maxRudder*speedf);
}
}
float upside=1;
if(updir.y<-0.3)
upside=-1;
//pitch
if(speedf<1.5){
if(frontdir.y<0.0){
elevator=upside;
} else if(frontdir.y>0.0){
elevator=-upside;
}
} else {
float gHeight2=ground->GetHeight(pos.x+speed.x*40,pos.z+speed.z*40);
float hdif=max(gHeight,gHeight2)+60-pos.y-frontdir.y*speedf*20;
float minPitch;//=min(1.0f,hdif/(maxElevator*speedf*speedf*20));
if(hdif<-(maxElevator*speedf*speedf*20)){
minPitch=-1;
} else if(hdif>(maxElevator*speedf*speedf*20)){
minPitch=1;
} else {
minPitch=hdif/(maxElevator*speedf*speedf*20);
}
/* if(pos.y+min(0,owner->speed.y)*70*fabs(frontdir.y)+min(0,updir.y)*50<gHeight+50){
if(frontdir.y<0.5){
elevator=upside;
} else if(frontdir.y>0.55){
elevator=-upside;
}*/
// } else {
if(lastColWarningType==2 && frontdir.dot(lastColWarning->pos+lastColWarning->speed*20-pos-owner->speed*20)<0){
/* float pitchMod=updir.y>0?1:-1;
if(lastColWarning->pos.y>pos.y)
elevator=-pitchMod;
else
elevator=pitchMod;
/*/ elevator=updir.dot(lastColWarning->midPos-owner->midPos)>0?-1:1;/**/
} else {
float hdif=goalDir.dot(updir);
if(hdif<-maxElevator*speedf){
elevator=-1;
} else if(hdif>maxElevator*speedf){
elevator=1;
} else {
elevator=hdif/(maxElevator*speedf);
}
}
if(elevator*upside<minPitch)
elevator=minPitch*upside;
}
#ifdef DEBUG_AIRCRAFT
if(selectedUnits.selectedUnits.find(this)!=selectedUnits.selectedUnits.end()){
info->AddLine("FAttack %.1f %.1f %.2f",pos.y-gHeight,goalLength,goalDir.dot(frontdir));
}
#endif
if(groundTarget)
engine=1;
else
engine=min(1.f,(float)(goalLength/owner->maxRange+1-goalDir.dot(frontdir)*0.7));
UpdateAirPhysics(rudder,aileron,elevator,engine,owner->frontdir);
/*
std::vector<CWeapon*>::iterator wi;
for(wi=owner->weapons.begin();wi!=owner->weapons.end();++wi){
(*wi)->targetPos=goalPos;
if(owner->userTarget){
(*wi)->AttackUnit(owner->userTarget,true);
}
}*/
/* DrawLine dl;
dl.color=UpVector;
dl.pos1=pos;
dl.pos2=goalPos;
lines.push_back(dl);
dl.color=float3(1,0,0);
dl.pos1=pos;
dl.pos2=pos+frontdir*maxRange;
lines.push_back(dl);/**/
}
void CAirMoveType::UpdateFlying(float wantedHeight, float engine)
{
float3& pos = owner->pos;
SyncedFloat3& rightdir = owner->rightdir;
SyncedFloat3& frontdir = owner->frontdir;
SyncedFloat3& updir = owner->updir;
float3& speed = owner->speed;
float speedf = speed.Length();
float3 goalDir = (goalPos - pos);
float goalLength = std::max(0.001f, goalDir.Length2D());
goalDir /= goalLength;
float3 adjustedGoalDir = float3(goalPos.x, 0, goalPos.z) - float3(pos.x, 0, pos.z);
adjustedGoalDir.SafeANormalize();
float aileron = 0.0f;
float rudder = 0.0f;
float elevator = 0.0f;
// do not check if the plane can be submerged here, since it'll cause
// ground collisions later on
float gHeight = ground->GetHeight(pos.x, pos.z);
if (!((gs->frameNum + owner->id) & 3))
CheckForCollision();
float otherThreat = 0.0f;
float3 otherDir;
if (lastColWarning) {
float3 otherDif = lastColWarning->pos - pos;
float otherLength = otherDif.Length();
otherDir =
(otherLength > 0.0f)?
(otherDif / otherLength):
ZeroVector;
otherThreat =
(otherLength > 0.0f)?
std::max(1200.0f, goalLength) / otherLength * 0.036f:
0.0f;
}
float goalDotRight = rightdir.dot(adjustedGoalDir);
float goalDotFront = adjustedGoalDir.dot(frontdir) * 0.5f + 0.501f;
if (goalDotFront > 0.01f) {
goalDotRight /= goalDotFront;
}
if (adjustedGoalDir.dot(frontdir) < -0.1f && goalLength < turnRadius && (!owner->directControl || owner->directControl->mouse2))
goalDotRight = -goalDotRight;
if (lastColWarning) {
goalDotRight -= otherDir.dot(rightdir) * otherThreat;
}
// roll
if (speedf > 1.5f && pos.y + speed.y * 10 > gHeight + wantedHeight * 0.6f) {
float goalBankDif = goalDotRight + rightdir.y * 0.5f;
if (goalBankDif > maxAileron*speedf * 4 && rightdir.y > -maxBank) {
aileron = 1;
} else if (goalBankDif < -maxAileron * speedf * 4 && rightdir.y < maxBank) {
aileron = -1;
} else {
if (fabs(rightdir.y) < maxBank) {
aileron = goalBankDif / (maxAileron * speedf * 4);
} else {
if (rightdir.y < 0.0f && goalBankDif < 0.0f) {
aileron = -1;
} else if (rightdir.y > 0.0f && goalBankDif > 0.0f) {
aileron = 1;
}
}
}
} else {
if (rightdir.y > 0.01f) {
aileron = 1;
} else if (rightdir.y < -0.01f) {
aileron = -1;
}
}
// yaw
if (pos.y > gHeight + 15) {
if (goalDotRight < -maxRudder * speedf * 2) {
rudder = -1;
} else if (goalDotRight > maxRudder * speedf * 2) {
rudder = 1;
} else {
if (speedf > 0.0f && maxRudder > 0.0f) {
rudder = goalDotRight / (maxRudder * speedf * 2);
} else {
rudder = 0;
}
}
}
// pitch
if (speedf > 0.8f) {
bool notColliding = true;
if (lastColWarningType == 2) {
const float3 dir = lastColWarning->midPos - owner->midPos;
const float3 sdir = lastColWarning->speed - owner->speed;
if (frontdir.dot(dir + sdir * 20) < 0) {
elevator = updir.dot(dir) > 0 ? -1 : 1;
notColliding = false;
}
}
if (notColliding) {
float gHeight2 = ground->GetHeight(pos.x + speed.x * 40, pos.z + speed.z * 40);
float hdif = std::max(gHeight, gHeight2) + wantedHeight - pos.y - frontdir.y * speedf * 20;
if (hdif < -(maxElevator * speedf * speedf * 20) && frontdir.y > -maxPitch) {
elevator = -1;
} else if (hdif > (maxElevator * speedf * speedf * 20) && frontdir.y < maxPitch) {
elevator = 1;
} else {
if (fabs(frontdir.y) < maxPitch)
elevator = hdif / (maxElevator * speedf * speedf * 20);
}
}
}
else {
if (frontdir.y < -0.1f) {
elevator = 1;
} else if (frontdir.y > 0.15f) {
elevator = -1;
}
}
UpdateAirPhysics(rudder, aileron, elevator, engine, owner->frontdir);
}
void CTAAirMoveType::UpdateFlying()
{
float3 &pos = owner->pos;
float3 &speed = owner->speed;
// Direction to where we would like to be
float3 dir = goalPos - pos;
owner->restTime = 0;
// don't change direction for waypoints we just flew over and missed slightly
if (flyState != FLY_LANDING && owner->commandAI->HasMoreMoveCommands()
&& dir != ZeroVector && dir.SqLength2D() < 10000.0f) {
float3 ndir = dir;
ndir = ndir.UnsafeANormalize();
if (ndir.SqDistance(dir) < 1.0f) {
dir = owner->frontdir;
}
}
const float gHeight = UseSmoothMesh()?
std::max(smoothGround->GetHeight(pos.x, pos.z), ground->GetApproximateHeight(pos.x, pos.z)):
ground->GetHeightAboveWater(pos.x, pos.z);
// are we there yet?
bool closeToGoal =
(dir.SqLength2D() < maxDrift * maxDrift) &&
(fabs(gHeight - pos.y + wantedHeight) < maxDrift);
if (flyState == FLY_ATTACKING) {
closeToGoal = (dir.SqLength2D() < 400);
}
if (closeToGoal) {
// pretty close
switch (flyState) {
case FLY_CRUISING: {
bool trans = dynamic_cast<CTransportUnit*>(owner);
bool noland = dontLand || !autoLand;
// should CMD_LOAD_ONTO be here?
bool hasLoadCmds = trans && !owner->commandAI->commandQue.empty()
&& (owner->commandAI->commandQue.front().id == CMD_LOAD_ONTO
|| owner->commandAI->commandQue.front().id == CMD_LOAD_UNITS);
if (noland || (trans && ++waitCounter < 55 && hasLoadCmds)) {
// transport aircraft need some time to detect that they can pickup
if (trans) {
wantedSpeed = ZeroVector;
SetState(AIRCRAFT_HOVERING);
if (waitCounter > 60) {
wantedHeight = orgWantedHeight;
}
} else {
wantedSpeed = ZeroVector;
if (!owner->commandAI->HasMoreMoveCommands())
wantToStop = true;
SetState(AIRCRAFT_HOVERING);
}
} else {
wantedHeight = orgWantedHeight;
SetState(AIRCRAFT_LANDING);
}
return;
}
case FLY_CIRCLING:
// break;
waitCounter++;
if (waitCounter > 100) {
if (owner->unitDef->airStrafe) {
float3 relPos = pos - circlingPos;
if (relPos.x < 0.0001f && relPos.x > -0.0001f) {
relPos.x = 0.0001f;
}
relPos.y = 0.0f;
relPos.Normalize();
static CMatrix44f rot(0.0f,fastmath::PI/4.0f,0.0f);
float3 newPos = rot.Mul(relPos);
// Make sure the point is on the circle
newPos = newPos * goalDistance;
// Go there in a straight line
goalPos = circlingPos + newPos;
}
waitCounter = 0;
}
break;
case FLY_ATTACKING: {
if (owner->unitDef->airStrafe) {
float3 relPos = pos - circlingPos;
if (relPos.x < 0.0001f && relPos.x > -0.0001f) {
relPos.x = 0.0001f;
}
relPos.y = 0;
relPos.Normalize();
CMatrix44f rot;
if (gs->randFloat() > 0.5f) {
rot.RotateY(0.6f + gs->randFloat() * 0.6f);
} else {
rot.RotateY(-(0.6f + gs->randFloat() * 0.6f));
}
float3 newPos = rot.Mul(relPos);
newPos = newPos * goalDistance;
// Go there in a straight line
goalPos = circlingPos + newPos;
}
break;
}
case FLY_LANDING: {
break;
}
}
}
// not there yet, so keep going
dir.y = 0;
float realMax = maxSpeed;
float dist = dir.Length() + 0.1f;
// If we are close to our goal, we should go slow enough to be able to break in time
// new additional rule: if in attack mode or if we have more move orders then this is
// an intermediate waypoint, don't slow down (FIXME)
if (flyState != FLY_ATTACKING && dist < brakeDistance) {
realMax = dist / (speed.Length2D() + 0.01f) * decRate;
}
wantedSpeed = (dir / dist) * realMax;
UpdateAirPhysics();
// Point toward goal or forward - unless we just passed it to get to another goal
if ((flyState == FLY_ATTACKING) || (flyState == FLY_CIRCLING)) {
dir = circlingPos - pos;
} else if (flyState != FLY_LANDING && (owner->commandAI->HasMoreMoveCommands() &&
dist < 120) && (goalPos - pos).Normalize().SqDistance(dir) > 1) {
dir = owner->frontdir;
} else {
dir = goalPos - pos;
}
if (dir.SqLength2D() > 1) {
const int h = GetHeadingFromVector(dir.x, dir.z);
wantedHeading = (h == 0)? wantedHeading : h;
}
}
void CTAAirMoveType::UpdateFlying()
{
float3 &pos = owner->pos;
float3 &speed = owner->speed;
// Direction to where we would like to be
float3 dir = goalPos - pos;
owner->restTime = 0;
// don't change direction for waypoints we just flew over and missed slightly
if (flyState != FLY_LANDING && (owner->commandAI->HasMoreMoveCommands() &&
dir.Length2D() < 100) && (goalPos - pos).Normalize().distance(dir) < 1) {
dir = owner->frontdir;
}
// are we there yet?
bool closeToGoal = (dir.SqLength2D() < maxDrift * maxDrift)
&& (fabs(ground->GetHeight(pos.x, pos.z) - pos.y + wantedHeight) < maxDrift);
if (flyState == FLY_ATTACKING)
closeToGoal = (dir.SqLength2D() < 400);
if (closeToGoal) {
// pretty close
switch (flyState) {
case FLY_CRUISING:
if (dontLand || (++waitCounter < 55 && dynamic_cast<CTransportUnit*>(owner))
|| !autoLand) {
// transport aircraft need some time to detect that they can pickup
if (dynamic_cast<CTransportUnit*>(owner)) {
wantedSpeed = ZeroVector;
if (waitCounter > 60) {
wantedHeight = orgWantedHeight;
}
} else {
wantedSpeed = ZeroVector;
if (!owner->commandAI->HasMoreMoveCommands())
wantToStop = true;
SetState(AIRCRAFT_HOVERING);
}
} else {
wantedHeight = orgWantedHeight;
SetState(AIRCRAFT_LANDING);
}
return;
case FLY_CIRCLING:
// break;
waitCounter++;
if (waitCounter > 100) {
if (owner->unitDef->airStrafe) {
float3 relPos = pos - circlingPos;
if (relPos.x < 0.0001f && relPos.x > -0.0001f)
relPos.x = 0.0001f;
relPos.y = 0;
relPos.Normalize();
CMatrix44f rot;
rot.RotateY(1.0f);
float3 newPos = rot.Mul(relPos);
// Make sure the point is on the circle
newPos = newPos.Normalize() * goalDistance;
//Go there in a straight line
goalPos = circlingPos + newPos;
}
waitCounter = 0;
}
break;
case FLY_ATTACKING:{
if (owner->unitDef->airStrafe) {
float3 relPos = pos - circlingPos;
if (relPos.x < 0.0001f && relPos.x > -0.0001f)
relPos.x = 0.0001f;
relPos.y = 0;
relPos.Normalize();
CMatrix44f rot;
if (gs->randFloat() > 0.5f)
rot.RotateY(0.6f + gs->randFloat() * 0.6f);
else
rot.RotateY(-(0.6f + gs->randFloat() * 0.6f));
float3 newPos = rot.Mul(relPos);
newPos = newPos.Normalize() * goalDistance;
// Go there in a straight line
goalPos = circlingPos + newPos;
}
break;
}
case FLY_LANDING:{
break;
}
}
}
// not there yet, so keep going
dir.y = 0;
float realMax = maxSpeed;
float dist = dir.Length2D();
// If we are close to our goal, we should go slow enough to be able to break in time
// new additional rule: if in attack mode or if we have more move orders then this is
// an intermediate waypoint, don't slow down (FIXME)
/// if (flyState != FLY_ATTACKING && dist < breakDistance && !owner->commandAI->HasMoreMoveCommands()) {
if (flyState != FLY_ATTACKING && dist < breakDistance) {
realMax = dist / (speed.Length2D() + 0.01f) * decRate;
}
wantedSpeed = dir.Normalize() * realMax;
UpdateAirPhysics();
// Point toward goal or forward - unless we just passed it to get to another goal
if ((flyState == FLY_ATTACKING) || (flyState == FLY_CIRCLING)) {
dir = circlingPos - pos;
} else if (flyState != FLY_LANDING && (owner->commandAI->HasMoreMoveCommands() &&
dist < 120) && (goalPos - pos).Normalize().distance(dir) > 1) {
dir = owner->frontdir;
} else {
dir = goalPos - pos;
}
if (dir.SqLength2D() > 1) {
int h = GetHeadingFromVector(dir.x, dir.z);
wantedHeading = (h == 0)? wantedHeading: h;
}
}
bool CTAAirMoveType::Update()
{
float3& pos = owner->pos;
float3& speed = owner->speed;
// This is only set to false after the plane has finished constructing
if (useHeading) {
useHeading = false;
SetState(AIRCRAFT_TAKEOFF);
}
if (owner->stunned || owner->beingBuilt) {
wantedSpeed = ZeroVector;
wantToStop = true;
}
// Allow us to stop if wanted
if (wantToStop) {
ExecuteStop();
}
const float3 lastSpeed = speed;
if (owner->fpsControlPlayer != NULL) {
SetState(AIRCRAFT_FLYING);
const FPSUnitController& con = owner->fpsControlPlayer->fpsController;
const float3 forward = con.viewDir;
const float3 right = forward.cross(UpVector);
const float3 nextPos = pos + speed;
float3 flatForward = forward;
flatForward.y = 0.0f;
flatForward.Normalize();
wantedSpeed = ZeroVector;
if (con.forward) wantedSpeed += flatForward;
if (con.back ) wantedSpeed -= flatForward;
if (con.right ) wantedSpeed += right;
if (con.left ) wantedSpeed -= right;
wantedSpeed.Normalize();
wantedSpeed *= maxSpeed;
if (!nextPos.IsInBounds()) {
speed = ZeroVector;
}
UpdateAirPhysics();
wantedHeading = GetHeadingFromVector(flatForward.x, flatForward.z);
} else {
if (reservedPad) {
CUnit* unit = reservedPad->GetUnit();
const float3 relPos = unit->script->GetPiecePos(reservedPad->GetPiece());
const float3 pos = unit->pos + unit->frontdir * relPos.z
+ unit->updir * relPos.y + unit->rightdir * relPos.x;
if (padStatus == 0) {
if (aircraftState != AIRCRAFT_FLYING && aircraftState != AIRCRAFT_TAKEOFF)
SetState(AIRCRAFT_FLYING);
goalPos = pos;
if (pos.SqDistance2D(owner->pos) < 400*400) {
padStatus = 1;
}
} else if (padStatus == 1) {
if (aircraftState != AIRCRAFT_FLYING) {
SetState(AIRCRAFT_FLYING);
}
flyState = FLY_LANDING;
goalPos = pos;
reservedLandingPos = pos;
wantedHeight = pos.y - ground->GetHeightAboveWater(pos.x, pos.z);
if (owner->pos.SqDistance(pos) < 9 || aircraftState == AIRCRAFT_LANDED) {
padStatus = 2;
}
} else {
if (aircraftState != AIRCRAFT_LANDED)
SetState(AIRCRAFT_LANDED);
owner->pos = pos;
owner->AddBuildPower(unit->unitDef->buildSpeed / 30, unit);
owner->currentFuel = std::min(owner->unitDef->maxFuel,
owner->currentFuel + (owner->unitDef->maxFuel
/ (GAME_SPEED * owner->unitDef->refuelTime)));
if (owner->health >= owner->maxHealth - 1
&& owner->currentFuel >= owner->unitDef->maxFuel) {
airBaseHandler->LeaveLandingPad(reservedPad);
reservedPad = NULL;
padStatus = 0;
goalPos = oldGoalPos;
SetState(AIRCRAFT_TAKEOFF);
}
}
}
// Main state handling
switch (aircraftState) {
case AIRCRAFT_LANDED:
UpdateLanded();
break;
case AIRCRAFT_TAKEOFF:
UpdateTakeoff();
break;
case AIRCRAFT_FLYING:
UpdateFlying();
break;
case AIRCRAFT_LANDING:
UpdateLanding();
break;
case AIRCRAFT_HOVERING:
UpdateHovering();
break;
case AIRCRAFT_CRASHING:
break;
}
}
// Banking requires deltaSpeed.y = 0
deltaSpeed = speed - lastSpeed;
deltaSpeed.y = 0.0f;
// Turn and bank and move; update dirs
UpdateHeading();
UpdateBanking(aircraftState == AIRCRAFT_HOVERING);
owner->UpdateMidPos();
return (HandleCollisions());
}
void CTAAirMoveType::Update()
{
float3& pos = owner->pos;
float3& speed = owner->speed;
// This is only set to false after the plane has finished constructing
if (useHeading) {
useHeading = false;
SetState(AIRCRAFT_TAKEOFF);
}
// Allow us to stop if wanted
if (wantToStop)
ExecuteStop();
float3 lastSpeed = speed;
if (owner->stunned) {
wantedSpeed = ZeroVector;
UpdateAirPhysics();
} else {
if (owner->directControl) {
DirectControlStruct* dc = owner->directControl;
SetState(AIRCRAFT_FLYING);
float3 forward = dc->viewDir;
float3 flatForward = forward;
flatForward.y = 0;
flatForward.Normalize();
float3 right = forward.cross(UpVector);
float3 nextPos = pos + speed;
wantedSpeed = ZeroVector;
if (dc->forward)
wantedSpeed += flatForward;
if (dc->back)
wantedSpeed -= flatForward;
if (dc->right)
wantedSpeed += right;
if (dc->left)
wantedSpeed -= right;
wantedSpeed.Normalize();
wantedSpeed *= maxSpeed;
if (!nextPos.CheckInBounds()) {
speed = ZeroVector;
}
UpdateAirPhysics();
wantedHeading = GetHeadingFromVector(flatForward.x, flatForward.z);
} else
{
if (reservedPad) {
CUnit* unit = reservedPad->GetUnit();
float3 relPos = unit->script->GetPiecePos(reservedPad->GetPiece());
float3 pos = unit->pos + unit->frontdir * relPos.z
+ unit->updir * relPos.y + unit->rightdir * relPos.x;
if (padStatus == 0) {
if (aircraftState != AIRCRAFT_FLYING && aircraftState != AIRCRAFT_TAKEOFF)
SetState(AIRCRAFT_FLYING);
goalPos = pos;
if (pos.SqDistance2D(owner->pos) < 400*400) {
padStatus = 1;
}
} else if (padStatus == 1) {
if (aircraftState != AIRCRAFT_FLYING)
SetState(AIRCRAFT_FLYING);
flyState = FLY_LANDING;
goalPos = pos;
reservedLandingPos = pos;
wantedHeight = pos.y - ground->GetHeight(pos.x, pos.z);
if (owner->pos.SqDistance(pos) < 9 || aircraftState == AIRCRAFT_LANDED) {
padStatus = 2;
}
} else {
if (aircraftState != AIRCRAFT_LANDED)
SetState(AIRCRAFT_LANDED);
owner->pos = pos;
owner->AddBuildPower(unit->unitDef->buildSpeed / 30, unit);
owner->currentFuel = std::min(owner->unitDef->maxFuel,
owner->currentFuel + (owner->unitDef->maxFuel
/ (GAME_SPEED * owner->unitDef->refuelTime)));
if (owner->health >= owner->maxHealth - 1
&& owner->currentFuel >= owner->unitDef->maxFuel) {
airBaseHandler->LeaveLandingPad(reservedPad);
reservedPad = 0;
padStatus = 0;
goalPos = oldGoalPos;
SetState(AIRCRAFT_TAKEOFF);
}
}
}
// Main state handling
switch (aircraftState) {
case AIRCRAFT_LANDED:
UpdateLanded();
break;
case AIRCRAFT_TAKEOFF:
UpdateTakeoff();
break;
case AIRCRAFT_FLYING:
UpdateFlying();
break;
case AIRCRAFT_LANDING:
UpdateLanding();
break;
case AIRCRAFT_HOVERING:
UpdateHovering();
break;
case AIRCRAFT_CRASHING:
break;
}
}
}
// Banking requires deltaSpeed.y = 0
deltaSpeed = speed - lastSpeed;
deltaSpeed.y = 0;
// Turn and bank and move
UpdateHeading();
UpdateBanking(aircraftState == AIRCRAFT_HOVERING); // updates dirs
owner->UpdateMidPos();
// Push other units out of the way
if (pos != oldpos && aircraftState != AIRCRAFT_TAKEOFF && padStatus == 0) {
oldpos = pos;
if (!dontCheckCol && collide) {
vector<CUnit*> nearUnits = qf->GetUnitsExact(pos, owner->radius + 6);
vector<CUnit*>::iterator ui;
for (ui = nearUnits.begin(); ui != nearUnits.end(); ++ui) {
if ((*ui)->transporter)
continue;
float sqDist = (pos-(*ui)->pos).SqLength();
float totRad = owner->radius + (*ui)->radius;
if (sqDist < totRad * totRad && sqDist != 0) {
float dist = sqrt(sqDist);
float3 dif = pos - (*ui)->pos;
if (dist > 0.0f) {
dif /= dist;
}
if ((*ui)->mass >= 100000 || (*ui)->immobile) {
pos -= dif * (dist - totRad);
owner->UpdateMidPos();
owner->speed *= 0.99f;
} else {
float part = owner->mass / (owner->mass + (*ui)->mass);
pos -= dif * (dist - totRad) * (1 - part);
owner->UpdateMidPos();
CUnit* u = (CUnit*) (*ui);
u->pos += dif * (dist - totRad) * (part);
u->UpdateMidPos();
float colSpeed = -owner->speed.dot(dif) + u->speed.dot(dif);
owner->speed += dif * colSpeed * (1 - part);
u->speed -= dif * colSpeed * (part);
}
}
}
}
if (pos.x < 0) {
pos.x += 0.6f;
owner->midPos.x += 0.6f;
} else if (pos.x > float3::maxxpos) {
pos.x -= 0.6f;
owner->midPos.x -= 0.6f;
}
if (pos.z < 0) {
pos.z += 0.6f;
owner->midPos.z += 0.6f;
} else if (pos.z > float3::maxzpos) {
pos.z -= 0.6f;
owner->midPos.z -= 0.6f;
}
}
}
