bool AICmdKamikaze::TimeStepUpdate()
{
if (!m_target) return true;
if (m_ship->GetFlightState() == Ship::FLYING) m_ship->SetWheelState(false);
else { LaunchShip(m_ship); return false; }
m_ship->SetGunState(0,0);
// needs to deal with frames, large distances, and success
if (m_ship->GetFrame() == m_target->GetFrame()) {
double dist = (m_target->GetPosition() - m_ship->GetPosition()).Length();
vector3d vRel = m_ship->GetVelocityRelTo(m_target);
vector3d dir = (m_target->GetPosition() - m_ship->GetPosition()).Normalized();
const double eta = Clamp(dist / vRel.Dot(dir), 0.0, 10.0);
const vector3d enemyProjectedPos = m_target->GetPosition() + eta*m_target->GetVelocity() - eta*m_ship->GetVelocity();
dir = (enemyProjectedPos - m_ship->GetPosition()).Normalized();
m_ship->ClearThrusterState();
m_ship->AIFaceDirection(dir);
// thunder at target at 400m/sec
// todo: fix that static cast - redo this function anyway
m_ship->AIModelCoordsMatchSpeedRelTo(vector3d(0,0,-400), static_cast<Ship*>(m_target));
}
return false;
}
bool AICmdFormation::TimeStepUpdate()
{
if (!m_target) return true;
if (!ProcessChild()) return false; // In case we're doing an intercept
if (m_ship->GetFlightState() == Ship::FLYING) m_ship->SetWheelState(false);
else { LaunchShip(m_ship); return false; }
// if too far away, do an intercept first
// TODO: adjust distance cap by timestep so we don't bounce?
if (m_target->GetPositionRelTo(m_ship).Length() > 30000.0) {
m_child = new AICmdFlyTo(m_ship, m_target);
ProcessChild(); return false;
}
matrix3x3d torient = m_target->GetOrientRelTo(m_ship->GetFrame());
vector3d relpos = m_target->GetPositionRelTo(m_ship) + torient * m_posoff;
vector3d relvel = -m_target->GetVelocityRelTo(m_ship);
double targdist = relpos.Length();
vector3d reldir = (targdist < 1e-16) ? vector3d(1,0,0) : relpos/targdist;
// adjust for target acceleration
matrix3x3d forient = m_target->GetFrame()->GetOrientRelTo(m_ship->GetFrame());
vector3d targaccel = forient * m_target->GetLastForce() / m_target->GetMass();
relvel -= targaccel * Pi::game->GetTimeStep();
double maxdecel = m_ship->GetAccelFwd() + targaccel.Dot(reldir);
if (maxdecel < 0.0) maxdecel = 0.0;
// linear thrust
double ispeed = calc_ivel(targdist, 0.0, maxdecel);
vector3d vdiff = ispeed*reldir - relvel;
m_ship->AIChangeVelDir(vdiff * m_ship->GetOrient());
if (m_target->IsDecelerating()) m_ship->SetDecelerating(true);
m_ship->AIFaceDirection(-torient.VectorZ());
return false; // never self-terminates
}
bool AICmdFlyAround::TimeStepUpdate()
{
if (m_targmode == 1 && !m_target) return true;
if (!ProcessChild()) return false;
// Not necessary unless it's a tier 1 AI
if (m_ship->GetFlightState() == Ship::FLYING) m_ship->SetWheelState(false);
else { LaunchShip(m_ship); return false; }
double timestep = Pi::game->GetTimeStep();
vector3d targpos = Targpos(); // target position in ship's frame
vector3d obspos = m_obstructor->GetPositionRelTo(m_ship);
double obsdist = obspos.Length();
vector3d obsdir = obspos / obsdist;
vector3d relpos = targpos - m_ship->GetPosition();
// if too far away, fly to tangent
if (obsdist > 1.1*m_alt)
{
double v;
Frame *obsframe = GetNonRotFrame(m_obstructor);
vector3d tangent = GenerateTangent(m_ship, obsframe, targpos, m_alt);
vector3d tpos_obs = GetPosInFrame(obsframe, m_ship->GetFrame(), targpos);
if (m_targmode != 1 && m_targmode != 2) v = m_vel;
else if (relpos.LengthSqr() < obsdist) v = 0.0;
else v = MaxVel((tpos_obs-tangent).Length(), tpos_obs.Length());
m_child = new AICmdFlyTo(m_ship, obsframe, tangent, v, true);
ProcessChild(); return false;
}
// limit m_vel by target proximity & distance covered per frame
double vel = (m_targmode != 1 && m_targmode != 2) ? m_vel
: MaxVel(relpos.Length(), targpos.Length());
// all calculations in ship's frame
vector3d fwddir = (obsdir.Cross(relpos).Cross(obsdir)).Normalized();
vector3d tanvel = vel * fwddir;
// frame body suicide check, response
if (CheckSuicide(m_ship, -obsdir)) {
m_ship->AIFaceDirection(m_ship->GetPosition()); // face away from planet
m_ship->AIMatchVel(vector3d(0.0)); return false;
}
// max feature avoidance check, response
if (obsdist < MaxFeatureRad(m_obstructor)) {
double ang = m_ship->AIFaceDirection(-obsdir);
m_ship->AIMatchVel(ang < 0.05 ? 1000.0 * -obsdir : 0.0);
return false;
}
// calculate target velocity
double alt = (tanvel * timestep + obspos).Length(); // unnecessary?
double ivel = calc_ivel(alt - m_alt, 0.0, m_ship->GetAccelMin());
vector3d finalvel = tanvel + ivel * obsdir;
m_ship->AIMatchVel(finalvel);
m_ship->AIFaceDirection(fwddir);
// vector3d newhead = GenerateTangent(m_ship, m_obstructor->GetFrame(), fwddir);
// newhead = GetPosInFrame(m_ship->GetFrame(), m_obstructor->GetFrame(), newhead);
// m_ship->AIFaceDirection(newhead-m_ship->GetPosition());
// termination condition for orbits
vector3d thrust = m_ship->GetThrusterState();
if (m_targmode >= 3 && thrust.LengthSqr() < 0.01) m_targmode++;
if (m_targmode == 5) { m_ship->SetThrusterState(vector3d(0.0)); return true; }
return false;
}
bool AICmdFlyTo::TimeStepUpdate()
{
double timestep = Pi::game->GetTimeStep();
vector3d targvel = GetVelInFrame(m_ship->GetFrame(), m_targframe, m_posoff);
vector3d relvel = m_ship->GetVelocity() - targvel;
vector3d targpos = GetPosInFrame(m_ship->GetFrame(), m_targframe, m_posoff);
bool safe = ParentSafetyAdjust(m_ship, m_targframe, m_posoff, targpos);
double endvel = safe ? 0.0 : m_endvel; // don't use endvel if safety-adjusted
vector3d relpos = targpos - m_ship->GetPosition();
vector3d reldir = relpos.NormalizedSafe();
double targdist = relpos.Length();
// sort out gear, launching
if (m_ship->GetFlightState() == Ship::FLYING) m_ship->SetWheelState(false);
else { LaunchShip(m_ship); return false; }
// frame switch stuff - clear children/collision state
if (m_frame != m_ship->GetFrame()) {
if (m_child) { delete m_child; m_child = 0; }
if (m_frame && m_tangent) return true; // regen tangent on frame switch
m_frame = m_ship->GetFrame();
m_reldir = reldir; // for +vel termination condition
}
#ifdef DEBUG_AUTOPILOT
if (m_ship->IsType(Object::PLAYER))
printf("Autopilot dist = %.1f, speed = %.1f, zthrust = %.2f, term = %.3f, state = %i\n",
targdist, relvel.Length(), m_ship->GetThrusterState().z, reldir.Dot(m_reldir), m_state);
#endif
Body *body = m_frame->GetBodyFor();
double erad = MaxEffectRad(body, m_ship);
if (!m_tangent || !(body == m_targframe->GetBodyFor()))
{
// process path collisions with frame body
int coll = CheckCollision(m_ship, reldir, targdist, targpos, endvel, erad);
if (coll == 0) { // no collision
if (m_child) { delete m_child; m_child = 0; m_state = -1; }
}
else if (coll == 1) { // below feature height, target not below
double ang = m_ship->AIFaceDirection(m_ship->GetPosition());
m_ship->AIMatchVel(ang < 0.05 ? 1000.0 * m_ship->GetPosition().Normalized() : 0.0);
m_state = -3; return false;
}
else { // same thing for 2/3/4
if (!m_child) m_child =
new AICmdFlyAround(m_ship, body, erad, 0.0, m_targframe, m_posoff);
ProcessChild(); m_state = -5; return false;
}
}
// if dangerously close to local body, pretend target isn't moving
if (body) {
double localdist = m_ship->GetPosition().Length();
if (targdist > localdist && localdist < 1.5*MaxFeatureRad(body))
relvel += targvel;
}
// regenerate state to flipmode if we're off course
bool overshoot = CheckOvershoot(m_ship, reldir, targdist, relvel, endvel);
if (m_tangent && m_state == -4 && !overshoot) return true; // bail out
if (m_state < 0) m_state = GetFlipMode(m_ship, relpos, relvel);
// linear thrust
double ang, maxdecel = GetMaxDecel(m_ship, reldir, m_state, &ang);
maxdecel -= GetGravityAtPos(m_targframe, m_posoff);
if(maxdecel <= 0) { m_ship->AIMessage(Ship::AIERROR_GRAV_TOO_HIGH); return true; }
bool cap = m_ship->AIMatchPosVel2(reldir, targdist, relvel, endvel, maxdecel);
// path overshoot check, response
if (m_state < 3 && overshoot) {
double ispeed = calc_ivel(targdist, endvel, maxdecel);
m_ship->AIFaceDirection(ispeed*reldir - relvel);
m_state = -4; return false;
}
// flip check - if facing forward and not accelerating at maximum
if (m_state == 1 && ang > 0.99 && !cap) m_state = 2;
// termination conditions
if (m_state == 3) m_state++; // finished last adjustment, hopefully
else if (endvel > 0.0) { if (reldir.Dot(m_reldir) < 0.9) m_state = 4; }
else if (targdist < 0.5*m_ship->GetAccelMin()*timestep*timestep) m_state = 3;
// set heading according to current state
if (m_state < 2) { // this shit still needed? yeah, sort of
vector3d newrelpos = targpos - m_ship->AIGetNextFramePos();
if ((newrelpos + reldir*100.0).Dot(relpos) <= 0.0)
m_ship->AIFaceDirection(reldir); // last frames turning workaround
else m_ship->AIFaceDirection(newrelpos);
}
else if (m_state == 2) m_ship->AIFaceDirection(-reldir); // hmm. -relvel instead?
else m_ship->AIMatchAngVelObjSpace(vector3d(0.0));
if (m_state == 4) return true;
return false;
}
bool AICmdKill::TimeStepUpdate()
{
if (!m_target || m_target->IsDead()) return true;
if (m_ship->GetFlightState() == Ship::FLYING) m_ship->SetWheelState(false);
else { LaunchShip(m_ship); return false; }
matrix4x4d rot; m_ship->GetRotMatrix(rot); // some world-space params
const ShipType &stype = m_ship->GetShipType();
vector3d targpos = m_target->GetPositionRelTo(m_ship);
vector3d targvel = m_target->GetVelocityRelTo(m_ship);
vector3d targdir = targpos.NormalizedSafe();
vector3d heading = vector3d(-rot[8], -rot[9], -rot[10]);
// Accel will be wrong for a frame on timestep changes, but it doesn't matter
vector3d targaccel = (m_target->GetVelocity() - m_lastVel) / Pi::game->GetTimeStep();
m_lastVel = m_target->GetVelocity(); // may need next frame
vector3d leaddir = m_ship->AIGetLeadDir(m_target, targaccel, 0);
// turn towards target lead direction, add inaccuracy
// trigger recheck when angular velocity reaches zero or after certain time
if (m_leadTime < Pi::game->GetTime())
{
double skillShoot = 0.5; // todo: should come from AI stats
double headdiff = (leaddir - heading).Length();
double leaddiff = (leaddir - targdir).Length();
m_leadTime = Pi::game->GetTime() + headdiff + (1.0*Pi::rng.Double()*skillShoot);
// lead inaccuracy based on diff between heading and leaddir
vector3d r(Pi::rng.Double()-0.5, Pi::rng.Double()-0.5, Pi::rng.Double()-0.5);
vector3d newoffset = r * (0.02 + 2.0*leaddiff + 2.0*headdiff)*Pi::rng.Double()*skillShoot;
m_leadOffset = (heading - leaddir); // should be already...
m_leadDrift = (newoffset - m_leadOffset) / (m_leadTime - Pi::game->GetTime());
// Shoot only when close to target
double vissize = 1.3 * m_ship->GetBoundingRadius() / targpos.Length();
vissize += (0.05 + 0.5*leaddiff)*Pi::rng.Double()*skillShoot;
if (vissize > headdiff) m_ship->SetGunState(0,1);
else m_ship->SetGunState(0,0);
if (targpos.LengthSqr() > 4000*4000) m_ship->SetGunState(0,0); // temp
}
m_leadOffset += m_leadDrift * Pi::game->GetTimeStep();
double leadAV = (leaddir-targdir).Dot((leaddir-heading).NormalizedSafe()); // leaddir angvel
m_ship->AIFaceDirection((leaddir + m_leadOffset).Normalized(), leadAV);
vector3d evadethrust(0,0,0);
if (m_evadeTime < Pi::game->GetTime()) // evasion time!
{
double skillEvade = 0.5; // todo: should come from AI stats
m_evadeTime = Pi::game->GetTime() + Pi::rng.Double(3.0,10.0) * skillEvade;
if (heading.Dot(targdir) < 0.7) skillEvade += 0.5; // not in view
skillEvade += Pi::rng.Double(-0.5,0.5);
matrix4x4d trot; m_target->GetRotMatrix(trot);
vector3d targhead = vector3d(-trot[8], -trot[9], -trot[10]) * rot; // obj space
vector3d targav = m_target->GetAngVelocity();
if (skillEvade < 1.6 && targhead.z < 0.0) { // smart chase
vector3d objvel = targvel * rot; // obj space targvel
if ((objvel.x*objvel.x + objvel.y*objvel.y) < 10000) {
evadethrust.x = objvel.x > 0.0 ? 1.0 : -1.0;
evadethrust.y = objvel.y > 0.0 ? 1.0 : -1.0;
}
}
else
{
skillEvade += targpos.Length() / 2000; // 0.25 per 500m
if (skillEvade < 1.0 && targav.Length() < 0.05) { // smart evade, assumes facing
evadethrust.x = targhead.x < 0.0 ? 1.0 : -1.0;
evadethrust.y = targhead.y < 0.0 ? 1.0 : -1.0;
}
else if (skillEvade < 1.3) { // random two-thruster evade
evadethrust.x = (Pi::rng.Int32()&8) ? 1.0 : -1.0;
evadethrust.y = (Pi::rng.Int32()&4) ? 1.0 : -1.0;
}
else if (skillEvade < 1.6) { // one thruster only
if (Pi::rng.Int32()&8)
evadethrust.x = (Pi::rng.Int32()&4) ? 1.0 : -1.0;
else evadethrust.y = (Pi::rng.Int32()&4) ? 1.0 : -1.0;
}
// else no evade thrust
}
}
else evadethrust = m_ship->GetThrusterState();
// todo: some logic behind desired range? pass from higher level
if (m_closeTime < Pi::game->GetTime())
{
double skillEvade = 0.5;
if (heading.Dot(targdir) < 0.7) skillEvade += 0.5; // not in view
m_closeTime = Pi::game->GetTime() + skillEvade * Pi::rng.Double(1.0,5.0);
double reqdist = 500.0 + skillEvade * Pi::rng.Double(-500.0, 250);
double dist = targpos.Length(), ispeed;
double rearaccel = stype.linThrust[ShipType::THRUSTER_REVERSE] / m_ship->GetMass();
rearaccel += targaccel.Dot(targdir);
// v = sqrt(2as), positive => towards
double as2 = 2.0 * rearaccel * (dist - reqdist);
if (as2 > 0) ispeed = sqrt(as2); else ispeed = -sqrt(-as2);
double vdiff = ispeed + targvel.Dot(targdir);
if (skillEvade + Pi::rng.Double() > 1.5) evadethrust.z = 0.0;
else if (vdiff*vdiff < 400.0) evadethrust.z = 0.0;
else evadethrust.z = (vdiff > 0.0) ? -1.0 : 1.0;
}
else evadethrust.z = m_ship->GetThrusterState().z;
m_ship->SetThrusterState(evadethrust);
return false;
}
bool AICmdFlyTo::TimeStepUpdate()
{
if (!m_target && !m_targframe) return true; // deleted object
// sort out gear, launching
if (m_ship->GetFlightState() == Ship::FLYING) m_ship->SetWheelState(false);
else { LaunchShip(m_ship); return false; }
// generate base target pos (with vicinity adjustment) & vel
double timestep = Pi::game->GetTimeStep();
vector3d targpos, targvel;
if (m_target) {
targpos = m_target->GetPositionRelTo(m_ship->GetFrame());
targpos -= (targpos - m_ship->GetPosition()).NormalizedSafe() * m_dist;
targvel = m_target->GetVelocityRelTo(m_ship->GetFrame());
} else {
targpos = GetPosInFrame(m_ship->GetFrame(), m_targframe, m_posoff);
targvel = GetVelInFrame(m_ship->GetFrame(), m_targframe, m_posoff);
}
Frame *targframe = m_target ? m_target->GetFrame() : m_targframe;
ParentSafetyAdjust(m_ship, targframe, targpos, targvel);
vector3d relpos = targpos - m_ship->GetPosition();
vector3d reldir = relpos.NormalizedSafe();
vector3d relvel = targvel - m_ship->GetVelocity();
double targdist = relpos.Length();
#ifdef DEBUG_AUTOPILOT
if (m_ship->IsType(Object::PLAYER))
printf("Autopilot dist = %.1f, speed = %.1f, zthrust = %.2f, state = %i\n",
targdist, relvel.Length(), m_ship->GetThrusterState().z, m_state);
#endif
// frame switch stuff - clear children/collision state
if (m_frame != m_ship->GetFrame()) {
if (m_child) { delete m_child; m_child = 0; }
if (m_tangent && m_frame) return true; // regen tangent on frame switch
m_reldir = reldir; // for +vel termination condition
m_frame = m_ship->GetFrame();
}
// TODO: collision needs to be processed according to vdiff, not reldir?
Body *body = m_frame->GetBody();
double erad = MaxEffectRad(body, m_ship);
if ((m_target && body != m_target)
|| (m_targframe && (!m_tangent || body != m_targframe->GetBody())))
{
int coll = CheckCollision(m_ship, reldir, targdist, targpos, m_endvel, erad);
if (coll == 0) { // no collision
if (m_child) { delete m_child; m_child = 0; }
}
else if (coll == 1) { // below feature height, target not below
double ang = m_ship->AIFaceDirection(m_ship->GetPosition());
m_ship->AIMatchVel(ang < 0.05 ? 1000.0 * m_ship->GetPosition().Normalized() : vector3d(0.0));
}
else { // same thing for 2/3/4
if (!m_child) m_child = new AICmdFlyAround(m_ship, m_frame->GetBody(), erad*1.05, 0.0);
static_cast<AICmdFlyAround*>(m_child)->SetTargPos(targpos);
ProcessChild();
}
if (coll) { m_state = -coll; return false; }
}
if (m_state < 0 && m_state > -6 && m_tangent) return true; // bail out
if (m_state < 0) m_state = targdist > 10000000.0 ? 1 : 0; // still lame
double maxdecel = m_state ? m_ship->GetAccelFwd() : m_ship->GetAccelRev();
double gravdir = -reldir.Dot(m_ship->GetPosition().Normalized());
maxdecel -= gravdir * GetGravityAtPos(m_ship->GetFrame(), m_ship->GetPosition());
if (maxdecel < 0) maxdecel = 0.0;
// target ship acceleration adjustment
if (m_target && m_target->IsType(Object::SHIP)) {
Ship *targship = static_cast<Ship*>(m_target);
matrix3x3d orient = m_target->GetFrame()->GetOrientRelTo(m_frame);
vector3d targaccel = orient * targship->GetLastForce() / m_target->GetMass();
// fudge: targets accelerating towards you are usually going to flip
if (targaccel.Dot(reldir) < 0.0 && !targship->IsDecelerating()) targaccel *= 0.5;
relvel += targaccel * timestep;
maxdecel += targaccel.Dot(reldir);
// if we have margin lower than 10%, fly as if 10% anyway
maxdecel = std::max(maxdecel, 0.1*m_ship->GetAccelFwd());
}
double curspeed = -relvel.Dot(reldir);
double tt = sqrt(2.0*targdist / maxdecel);
if (tt < timestep) tt = timestep;
vector3d perpvel = relvel + reldir * curspeed;
double perpspeed = perpvel.Length();
vector3d perpdir = (perpspeed > 1e-30) ? perpvel / perpspeed : vector3d(0,0,1);
double sidefactor = perpspeed / (tt*0.5);
if (curspeed > (tt+timestep)*maxdecel || maxdecel < sidefactor) {
m_ship->AIFaceDirection(relvel);
m_ship->AIMatchVel(targvel);
m_state = -5; return false;
}
else maxdecel = sqrt(maxdecel*maxdecel - sidefactor*sidefactor);
// ignore targvel if we could clear with side thrusters in a fraction of minimum time
// if (perpspeed < tt*0.01*m_ship->GetAccelMin()) perpspeed = 0;
// calculate target speed
double ispeed = (maxdecel < 1e-10) ? 0.0 : calc_ivel(targdist, m_endvel, maxdecel);
// cap target speed according to spare fuel remaining
double fuelspeed = m_ship->GetSpeedReachedWithFuel();
if (m_target && m_target->IsType(Object::SHIP)) fuelspeed -=
m_ship->GetVelocityRelTo(Pi::game->GetSpace()->GetRootFrame()).Length();
if (ispeed > curspeed && curspeed > 0.9*fuelspeed) ispeed = curspeed;
// Don't exit a frame faster than some fraction of radius
// double maxframespeed = 0.2 * m_frame->GetRadius() / timestep;
// if (m_frame->GetParent() && ispeed > maxframespeed) ispeed = maxframespeed;
// cap perpspeed according to what's needed now
perpspeed = std::min(perpspeed, 2.0*sidefactor*timestep);
// cap sdiff by thrust...
double sdiff = ispeed - curspeed;
double linaccel = sdiff < 0 ?
std::max(sdiff, -m_ship->GetAccelFwd()*timestep) :
std::min(sdiff, m_ship->GetAccelFwd()*timestep);
// linear thrust application, decel check
vector3d vdiff = linaccel*reldir + perpspeed*perpdir;
bool decel = sdiff <= 0;
m_ship->SetDecelerating(decel);
if (decel) m_ship->AIChangeVelBy(vdiff * m_ship->GetOrient());
else m_ship->AIChangeVelDir(vdiff * m_ship->GetOrient());
// work out which way to head
vector3d head = reldir;
if (!m_state && sdiff < -1.2*maxdecel*timestep) m_state = 1;
if (m_state && sdiff < maxdecel*timestep*60) head = -head;
if (!m_state && decel) sidefactor = -sidefactor;
head = head*maxdecel + perpdir*sidefactor;
// face appropriate direction
if (m_state >= 3) m_ship->AIMatchAngVelObjSpace(vector3d(0.0));
else m_ship->AIFaceDirection(head);
if (body && body->IsType(Object::PLANET) && m_ship->GetPosition().LengthSqr() < 2*erad*erad)
m_ship->AIFaceUpdir(m_ship->GetPosition()); // turn bottom thruster towards planet
// termination conditions: check
if (m_state >= 3) return true; // finished last adjustment, hopefully
if (m_endvel > 0.0) { if (reldir.Dot(m_reldir) < 0.9) return true; }
else if (targdist < 0.5*m_ship->GetAccelMin()*timestep*timestep) m_state = 3;
return false;
}
bool AICmdFlyTo::TimeStepUpdate()
{
double timestep = Pi::game->GetTimeStep();
vector3d targvel = GetVelInFrame(m_ship->GetFrame(), m_targframe, m_posoff);
vector3d relvel = m_ship->GetVelocity() - targvel;
vector3d targpos = GetPosInFrame(m_ship->GetFrame(), m_targframe, m_posoff);
// only if pursuing a ship -- repeat actions from contructor again, since the position of the ship changed
if(m_targetShip != 0) {
m_targframe = m_targetShip->GetFrame();
m_posoff = m_ship->GetPositionRelTo(m_targframe);
m_posoff += m_targetShip->GetPosition();
targpos = m_targetShip->GetPositionRelTo(m_ship->GetFrame());
targpos.x += VICINITY_MIN/2; // avoid collisions, set target a bit away
targvel = m_targetShip->GetVelocityRelTo(m_ship->GetFrame()); // todo: check general frame!
relvel = m_ship->GetVelocity() - targvel;
}
bool safe = ParentSafetyAdjust(m_ship, m_targframe, m_posoff, targpos);
double endvel = safe ? 0.0 : m_endvel; // don't use endvel if safety-adjusted
vector3d relpos = targpos - m_ship->GetPosition();
vector3d reldir = relpos.NormalizedSafe();
double targdist = relpos.Length();
double haveFuelToReachThisVelSafely;
m_fuelEconomy = Clamp(m_fuelEconomy, 0.0f, 1.0f);
haveFuelToReachThisVelSafely = m_ship->GetVelocityReachedWithFuelUsed(1.0/(6-3*m_fuelEconomy) * m_ship->GetFuel());
// sort out gear, launching
if (m_ship->GetFlightState() == Ship::FLYING) m_ship->SetWheelState(false);
else { LaunchShip(m_ship); return false; }
// frame switch stuff - clear children/collision state
if (m_frame != m_ship->GetFrame()) {
if (m_child) { delete m_child; m_child = 0; }
if (m_frame && m_tangent) return true; // regen tangent on frame switch
m_frame = m_ship->GetFrame();
m_reldir = reldir; // for +vel termination condition
}
#ifdef DEBUG_AUTOPILOT
if (m_ship->IsType(Object::PLAYER))
printf("Autopilot dist = %.1f, speed = %.1f, zthrust = %.2f, term = %.3f, crit = %.3f, fuel = %.3f, exhaust = %.0f, safeVel = %.0f, state = %i\n",
targdist, relvel.Length(), m_ship->GetThrusterState().z, reldir.Dot(m_reldir),
relvel.Dot(reldir)/(relvel.Length()+1e-7), m_ship->GetFuel(),
m_ship->GetEffectiveExhaustVelocity() , haveFuelToReachThisVelSafely, m_state);
#endif
Body *body = m_frame->GetBodyFor();
double erad = MaxEffectRad(body, m_ship);
if (m_targetShip == 0 && (!m_tangent || !(body == m_targframe->GetBodyFor())))
{
// process path collisions with frame body
int coll = CheckCollision(m_ship, reldir, targdist, targpos, endvel, erad);
if (coll == 0) { // no collision
if (m_child) { delete m_child; m_child = 0; m_state = -1; }
}
else if (coll == 1) { // below feature height, target not below
double ang = m_ship->AIFaceDirection(m_ship->GetPosition());
m_ship->AIMatchVel(ang < 0.05 ? 1000.0 * m_ship->GetPosition().Normalized() : vector3d(0.0));
m_state = -3; return false;
}
else { // same thing for 2/3/4
if (!m_child) m_child =
new AICmdFlyAround(m_ship, body, erad, 0.0, m_targframe, m_posoff, m_fuelEconomy);
ProcessChild(); m_state = -5; return false;
}
}
// if dangerously close to local body, pretend target isn't moving
if (body) {
double localdist = m_ship->GetPosition().Length();
if (targdist > localdist && localdist < 1.5*MaxFeatureRad(body))
relvel += targvel;
}
// regenerate state to flipmode if we're off course
bool overshoot = CheckOvershoot(m_ship, reldir, targdist, relvel, endvel);
if (m_tangent && m_state == -4 && !overshoot) return true; // bail out
if (m_state < 0) m_state = GetFlipMode(m_ship, relpos, relvel);
// linear thrust
double ang, maxdecel = GetMaxDecel(m_ship, reldir, m_state, &ang);
maxdecel -= GetGravityAtPos(m_targframe, m_posoff);
if(maxdecel <= 0) { m_ship->AIMessage(Ship::AIERROR_GRAV_TOO_HIGH); return true; }
bool cap = m_ship->AIMatchPosVel2(reldir, targdist, relvel, endvel, maxdecel);
// path overshoot check, response
if (m_state < 3 && overshoot) {
double ispeed = calc_ivel(targdist, endvel, maxdecel);
m_ship->AIFaceDirection(ispeed*reldir - relvel);
m_state = -4; return false;
}
// turn thrusters off when in acceleration phase and low on fuel
double angleCos = relvel.Dot(reldir)/(relvel.Length()+1e-7);
if(m_state == 1 && relvel.Length() > haveFuelToReachThisVelSafely &&
// match direction precisely if close, if more than a day far, save the fuel and do not be so strict about the direction
(angleCos > 0.9999 || (angleCos > 0.995 && targdist/(haveFuelToReachThisVelSafely+1e-7) > 86400))
) {
m_ship->SetThrusterState(vector3d(0.0));
} else if(m_state == 1 && relvel.Length() > 1.1*haveFuelToReachThisVelSafely) {
// match direction without increasing speed .. saves fuel in deceleration phase
vector3d v;
matrix4x4d m;
m_ship->GetRotMatrix(m);
v = targvel + relvel.NormalizedSafe()*haveFuelToReachThisVelSafely;
m_ship->AIMatchVel(v);
}
// flip check - if facing forward and not accelerating at maximum
if (m_state == 1 && ang > 0.99 && !cap) m_state = 2;
// termination conditions
if (m_state == 3) m_state++; // finished last adjustment, hopefully
else if (endvel > 0.0) { if (reldir.Dot(m_reldir) < 0.9) m_state = 4; }
else if (targdist < 0.5*m_ship->GetAccelMin()*timestep*timestep) m_state = 3;
// set heading according to current state
if (m_state < 2) { // this shit still needed? yeah, sort of
vector3d newrelpos = targpos - m_ship->AIGetNextFramePos();
if ((newrelpos + reldir*100.0).Dot(relpos) <= 0.0)
m_ship->AIFaceDirection(reldir); // last frames turning workaround
else m_ship->AIFaceDirection(newrelpos);
}
else if (m_state == 2) m_ship->AIFaceDirection(-reldir); // hmm. -relvel instead?
else m_ship->AIMatchAngVelObjSpace(vector3d(0.0));
if (m_state == 4) return true;
return false;
}
