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AIShip.c
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AIShip.c
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/*=============================================================================
Name : AIShip.c
Purpose : This AI layer controls where a ship's velocity vector should be
and what heading the ship should face. It determines this based
on commands received (parameters passed), and on where enemy
ships are, etc.
Note that it is the responsibility of the AItrack layer below
to actually cause the ship to follow the desired velocity vector
and heading.
Created 6/26/1997 by gshaw
Copyright Relic Entertainment, Inc. All rights reserved.
=============================================================================*/
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include "types.h"
#include "vector.h"
#include "matrix.h"
#include "fastmath.h"
#include "debug.h"
#include "spaceobj.h"
#include "physics.h"
#include "aitrack.h"
#include "aiship.h"
#include "statscript.h"
#include "universe.h"
#include "ships.h"
#include "univupdate.h"
#include "collision.h"
#include "blobs.h"
#include "tactics.h"
#include "alliance.h"
#include "randy.h"
#include "ProfileTimers.h"
#ifdef gshaw
#define DEBUG_AISHIP 0
#else
#define DEBUG_AISHIP 0
#endif
#define PAD_AROUND_SMALLEST_SHIP 1
#define VELFACTOR 0
bool isCapitalShipStaticOrBig(ShipStaticInfo *shipstatic);
/*=============================================================================
AIShip Stats (optional)
=============================================================================*/
#ifdef AISHIP_STATS
AIshipStats aishipStats = { 0,0,0,0,0,0.0f, 0, {0.0f, 0.0f, 0.0f } };
#endif
/*=============================================================================
Data
=============================================================================*/
bool aishipTempDisableAvoiding = FALSE;
/*=============================================================================
Private Function declarations:
=============================================================================*/
static void scriptAIShipPrecalculate(char *directory,char *field,void *dataToFillIn);
static void rowSetDetails(char *directory,char *field,void *dataToFillIn);
/*=============================================================================
Tweakables:
=============================================================================*/
real32 VELOCITY_SCALE_FACTOR = 0.1f;
real32 URGENT_SCALE_FACTOR = 1.0f;
real32 MISSILE_SCALE_FACTOR = 1.0f;
real32 MISSILE_MIN_VELOCITY = 500.0f;
real32 MISSILE_USE_VELOCITYPRED_DISTANCE = 250.0f*250.0f;
//real32 MINE_MIN_VELOCITY = 75.0f;
real32 AVOID_OBJ_SCALE_FACTOR = (real32)1e-4;
real32 COMBAT_AVOID_OBJ_SCALE_FACTOR = (real32)1e-5;
real32 PROBE_AVOID_OBJ_SCALE_FACTOR = (real32)1e-5;
real32 AVOID_PANIC_FACTOR = 0.2f;
real32 AVOID_OBJ_PADDING_SCALE = 1.6f;
real32 AVOID_OBJ_PADDING_SCALE_BIG = 2.0f;
real32 AVOID_OBJ_ROW_PADDING_SCALE = 3.0f;
real32 AVOID_OBJ_FORMATION_PADDING_SCALE = 2.55f;
real32 AVOID_OBJ_MSHIP_MILPARADE_PADDING_SCALE = 1.55f;
real32 AVOID_OBJ_R2MSHIP_MILPARADE_PADDING_SCALE = 0.75f;
real32 AVOID_OBJ_OBSCUREDPOINT_SCALE = 1.55f;
real32 AVOID_SPREAD_OUT_DIST = 100.0f;
real32 CAR_TURN_POWER = 0.1f;
real32 FLYSHIP_HEADINGACCURACY = 0.999f;
real32 FLYSHIP_ATTACKACCURACY = 0.999f;
real32 FIGHTER_BANK = 0.99f;
real32 CORVETTE_BANK = 0.707f;
real32 FRIGATE_BANK = 0.5f;
real32 DESTROYER_BANK = 0.35f;
real32 MASSIVESHIP_BANK = 0.17f;
real32 NOSHIP_BANK = 0.01f;
real32 FRIGATE_TURNPITCH = DEG_TO_RAD(30.0f);
real32 DESTROYER_TURNPITCH = DEG_TO_RAD(25.0f);
real32 MASSIVESHIP_TURNPITCH = DEG_TO_RAD(20.0f);
real32 NOSHIP_TURNPITCH = DEG_TO_RAD(0.01f);
real32 FRIGATE_DESCENDPITCH = DEG_TO_RAD(20.0f);
real32 DESTROYER_DESCENDPITCH = DEG_TO_RAD(15.0f);
real32 MASSIVESHIP_DESCENDPITCH = DEG_TO_RAD(10.0f);
real32 NOSHIP_DESCENDPITCH = DEG_TO_RAD(0.01f);
real32 INTERCEPTORBREAK_TOLERANCE = 110.0f;
real32 INTERCEPTORBREAK_MINVELOCITY = -200.0f;
real32 INTERCEPTORKILL_MINVELOCITY = -200.0f;
real32 DESCEND_PITCH4_DIST = 0.25f;
real32 DESCEND_PITCH3_DIST = 0.50f;
real32 DESCEND_PITCH2_DIST = 0.75f;
real32 MIN_DIST_FOR_FANCY_DESCEND = 100.0f;
real32 MIN_ANGLE_FOR_FANCY_DESCEND = 0.577f; // tan(30)
real32 MIN_DIST_TO_TRACK_HEADING = 20.0f;
real32 MAX_ANGLE_FOR_TRACK_HEADING = 2.747f; // tan(70)
real32 ROW_GOING_MOSTLY_UPDOWN_ANGLE = 0.707f;
real32 AVOID_ROW_SHIP_BY_SCALE = 4.0f;
real32 AVOID_ROW_SHIP_BY_ADD = 200.0f;
real32 AVOID_ROW_R1MOTHERSHIP_BY = 1000.0f;
real32 ROW_GO_DOWN_INSTEAD_OF_UP_RATIO = 0.3f;
real32 PASS_RIGHT_FACTOR = 1.0f;
real32 USE_PASS_RIGHT_ANGLE = 0.97f;
real32 NEG_AVOID_MIN_VEL = -1.0f;
real32 AVOID_MIN_VEL = 1.0f;
real32 DONTUSEVELOCITYPRED_IFBELOW = 1000.0f;
bool DO_AVOID_OBJS = TRUE;
// pre-calculated constants:
real32 oneOverDESCEND_PITCH4_DIST;
real32 oneOverDESCEND_3_MINUS_4_DIST;
real32 oneOverDESCEND_2_MINUS_3_DIST;
scriptEntry AIShipTweaks[] =
{
makeEntry(VELOCITY_SCALE_FACTOR,scriptSetReal32CB),
makeEntry(URGENT_SCALE_FACTOR,scriptSetReal32CB),
makeEntry(MISSILE_SCALE_FACTOR,scriptSetReal32CB),
makeEntry(MISSILE_MIN_VELOCITY,scriptSetReal32CB),
makeEntry(MISSILE_USE_VELOCITYPRED_DISTANCE,scriptSetReal32SqrCB),
//makeEntry(MINE_MIN_VELOCITY,scriptSetReal32CB),
makeEntry(AVOID_OBJ_SCALE_FACTOR,scriptSetReal32CB),
makeEntry(COMBAT_AVOID_OBJ_SCALE_FACTOR,scriptSetReal32CB),
makeEntry(PROBE_AVOID_OBJ_SCALE_FACTOR,scriptSetReal32CB),
makeEntry(AVOID_OBJ_PADDING_SCALE,scriptSetReal32CB),
makeEntry(AVOID_OBJ_PADDING_SCALE_BIG,scriptSetReal32CB),
makeEntry(AVOID_OBJ_FORMATION_PADDING_SCALE,scriptSetReal32CB),
makeEntry(AVOID_OBJ_MSHIP_MILPARADE_PADDING_SCALE,scriptSetReal32CB),
makeEntry(AVOID_OBJ_R2MSHIP_MILPARADE_PADDING_SCALE,scriptSetReal32CB),
makeEntry(AVOID_OBJ_OBSCUREDPOINT_SCALE,scriptSetReal32CB),
makeEntry(AVOID_OBJ_ROW_PADDING_SCALE,scriptSetReal32CB),
makeEntry(AVOID_PANIC_FACTOR,scriptSetReal32CB),
makeEntry(AVOID_SPREAD_OUT_DIST,scriptSetReal32CB),
makeEntry(CAR_TURN_POWER,scriptSetReal32CB),
makeEntry(FLYSHIP_HEADINGACCURACY,scriptSetCosAngCB),
makeEntry(FLYSHIP_ATTACKACCURACY,scriptSetCosAngCB),
makeEntry(DO_AVOID_OBJS,scriptSetBool),
makeEntry(CORVETTE_BANK,scriptSetSinAngCB),
makeEntry(FRIGATE_BANK,scriptSetSinAngCB),
makeEntry(DESTROYER_BANK,scriptSetSinAngCB),
makeEntry(MASSIVESHIP_BANK,scriptSetSinAngCB),
makeEntry(NOSHIP_BANK,scriptSetSinAngCB),
makeEntry(FRIGATE_TURNPITCH,scriptSetAngCB),
makeEntry(DESTROYER_TURNPITCH,scriptSetAngCB),
makeEntry(MASSIVESHIP_TURNPITCH,scriptSetAngCB),
makeEntry(NOSHIP_TURNPITCH,scriptSetAngCB),
makeEntry(FRIGATE_DESCENDPITCH,scriptSetAngCB),
makeEntry(DESTROYER_DESCENDPITCH,scriptSetAngCB),
makeEntry(MASSIVESHIP_DESCENDPITCH,scriptSetAngCB),
makeEntry(NOSHIP_DESCENDPITCH,scriptSetAngCB),
makeEntry(DESCEND_PITCH4_DIST,scriptSetReal32CB),
makeEntry(DESCEND_PITCH3_DIST,scriptSetReal32CB),
makeEntry(DESCEND_PITCH2_DIST,scriptSetReal32CB),
makeEntry(MIN_DIST_FOR_FANCY_DESCEND,scriptSetReal32CB),
makeEntry(MIN_ANGLE_FOR_FANCY_DESCEND,scriptSetTanAngCB),
makeEntry(MIN_DIST_TO_TRACK_HEADING,scriptSetReal32CB),
makeEntry(MAX_ANGLE_FOR_TRACK_HEADING,scriptSetTanAngCB),
makeEntry(INTERCEPTORBREAK_TOLERANCE,scriptSetReal32CB),
makeEntry(INTERCEPTORBREAK_MINVELOCITY,scriptSetReal32CB),
makeEntry(INTERCEPTORKILL_MINVELOCITY,scriptSetReal32CB),
makeEntry(ROW_GOING_MOSTLY_UPDOWN_ANGLE,scriptSetCosAngCB),
makeEntry(AVOID_ROW_SHIP_BY_SCALE,scriptSetReal32CB),
makeEntry(AVOID_ROW_SHIP_BY_ADD,scriptSetReal32CB),
makeEntry(AVOID_ROW_R1MOTHERSHIP_BY,scriptSetReal32CB),
makeEntry(ROW_GO_DOWN_INSTEAD_OF_UP_RATIO,scriptSetReal32CB),
makeEntry(PASS_RIGHT_FACTOR,scriptSetReal32CB),
makeEntry(USE_PASS_RIGHT_ANGLE,scriptSetCosAngSqrCB),
makeEntry(AVOID_MIN_VEL,scriptSetReal32CB),
makeEntry(DONTUSEVELOCITYPRED_IFBELOW,scriptSetReal32CB),
{ "rowDetails", rowSetDetails, NULL },
{ "AISHIP_OTHER_CALCULATIONS", scriptAIShipPrecalculate, NULL }, // should go last
endEntry
};
static void scriptAIShipPrecalculate(char *directory,char *field,void *dataToFillIn)
{
oneOverDESCEND_PITCH4_DIST = 1.0f / DESCEND_PITCH4_DIST;
oneOverDESCEND_3_MINUS_4_DIST = 1.0f / (DESCEND_PITCH3_DIST - DESCEND_PITCH4_DIST);
oneOverDESCEND_2_MINUS_3_DIST = 1.0f / (DESCEND_PITCH2_DIST - DESCEND_PITCH3_DIST);
dbgAssert(oneOverDESCEND_3_MINUS_4_DIST > 0.0f);
dbgAssert(oneOverDESCEND_2_MINUS_3_DIST > 0.0f);
NEG_AVOID_MIN_VEL = -AVOID_MIN_VEL;
}
#ifdef AISHIP_STATS
void aishipStatsInitFunc(Ship *ship)
{
if (selSelected.numShips > 0 && (ship == selSelected.ShipPtr[0]))
{
memset(&aishipStats,0,sizeof(aishipStats));
aishipStats.isValid = TRUE;
aishipStats.isDisplayable = TRUE;
}
}
void aishipStatsCloseFunc()
{
aishipStats.isValid = FALSE;
}
void aishipStatsPrint(sdword *y)
{
if (aishipStats.isDisplayable)
{
fontPrintf(0,*y += 20,colWhite, "AIShip state:%d walks:%d considered:%d",
aishipStats.state, aishipStats.avoidedWalks, aishipStats.avoidedConsidered);
*y += 20;
if (aishipStats.passingOnRight)
fontPrintf(0,*y,colWhite, "AIShip passingonright:(%f %f %f)",
aishipStats.passingOnRightVec.x,aishipStats.passingOnRightVec.y,aishipStats.passingOnRightVec.z);
*y += 20;
if (aishipStats.repulsenum)
fontPrintf(0,*y,colWhite, "AIShip Repulse %d:(%f %f %f)",
aishipStats.repulsenum, aishipStats.repulse.x, aishipStats.repulse.y, aishipStats.repulse.z);
fontPrintf(0,*y += 20,colWhite,"distToColl:%f desiredVel:(%f %f %f)",
aishipStats.distanceToCollision,aishipStats.desiredVel.x,aishipStats.desiredVel.y,aishipStats.desiredVel.z);
fontPrintf(0,*y += 20,colWhite,"desiredHeading:(%f %f %f) actualHeading:(%f %f %f)",
aishipStats.desiredHeading.x,aishipStats.desiredHeading.y,aishipStats.desiredHeading.z,aishipStats.actualHeading.x,aishipStats.actualHeading.y,aishipStats.actualHeading.z);
}
}
#endif
#if 0 // obsolete
void aishipFlyToPoint(Ship *ship,vector *destination,udword aishipflags)
{
vector desiredVel;
vector desiredHead;
vecSub(desiredVel,*destination,ship->posinfo.position);
vecMultiplyByScalar(desiredVel,VELOCITY_SCALE_FACTOR);
if (bitTest(aishipflags,AISHIP_PointInDirectionFlying))
{
vecCopyAndNormalize(&desiredVel,&desiredHead);
aitrackHeading(ship,&desiredHead,FLYSHIP_HEADINGACCURACY);
}
aitrackVelocityVector(ship,&desiredVel);
}
#endif
/*-----------------------------------------------------------------------------
Name : aishipPrecalcInfo
Description : precalculates information used by the AIShip routines and puts
it in the ShipStaticInfo structure.
Inputs : shipstatinfo
Outputs :
Return :
----------------------------------------------------------------------------*/
void aishipPrecalcInfo(ShipStaticInfo *shipstatinfo)
{
shipstatinfo->sinbank = 0.0f;
shipstatinfo->pitchturn = 0.0f;
shipstatinfo->pitchdescend = 0.0f;
switch (shipstatinfo->shipclass)
{
case CLASS_Fighter:
shipstatinfo->sinbank = FIGHTER_BANK;
break;
case CLASS_Corvette:
shipstatinfo->sinbank = CORVETTE_BANK;
break;
case CLASS_Frigate:
shipstatinfo->sinbank = FRIGATE_BANK;
shipstatinfo->pitchturn = FRIGATE_TURNPITCH;
shipstatinfo->pitchdescend = FRIGATE_DESCENDPITCH;
break;
case CLASS_Destroyer:
shipstatinfo->sinbank = DESTROYER_BANK;
shipstatinfo->pitchturn = DESTROYER_TURNPITCH;
shipstatinfo->pitchdescend = DESTROYER_DESCENDPITCH;
break;
case CLASS_Carrier:
case CLASS_HeavyCruiser:
shipstatinfo->sinbank = MASSIVESHIP_BANK;
shipstatinfo->pitchturn = MASSIVESHIP_TURNPITCH;
shipstatinfo->pitchdescend = MASSIVESHIP_DESCENDPITCH;
break;
default:
switch (shipstatinfo->shiptype)
{
case SensorArray:
shipstatinfo->sinbank = NOSHIP_BANK;
shipstatinfo->pitchturn = NOSHIP_TURNPITCH;
shipstatinfo->pitchdescend = NOSHIP_DESCENDPITCH;
break;
case CryoTray:
case P1Mothership:
case P2Mothership:
case P3Megaship:
case FloatingCity:
case ResearchStation:
case Ghostship:
shipstatinfo->sinbank = MASSIVESHIP_BANK;
shipstatinfo->pitchturn = MASSIVESHIP_TURNPITCH;
shipstatinfo->pitchdescend = MASSIVESHIP_DESCENDPITCH;
break;
case ResourceController:
shipstatinfo->sinbank = FRIGATE_BANK;
shipstatinfo->pitchturn = FRIGATE_TURNPITCH;
shipstatinfo->pitchdescend = FRIGATE_DESCENDPITCH;
break;
}
break;
}
}
/*-----------------------------------------------------------------------------
Name : getPitchToDescend
Description : returns the pitch in radians the ship should be at, given the
normalized distance left zdistanceleft, and pitchdescend (maximum
pitch change)
Inputs : zdistanceleft, pitchdescend
Outputs :
Return :
----------------------------------------------------------------------------*/
real32 getPitchToDescend(real32 zdistanceleft,real32 pitchdescend)
{
if (zdistanceleft < 0.0f)
{
zdistanceleft = -zdistanceleft;
if (zdistanceleft < 0.0f)
{
return 0.0f;
}
else if (zdistanceleft < DESCEND_PITCH4_DIST) // 0 to DESCEND_PITCH4_DIST
{
return pitchdescend * zdistanceleft * oneOverDESCEND_PITCH4_DIST;
}
else if (zdistanceleft < DESCEND_PITCH3_DIST) // DESCEND_PITCH4_DIST to DESCEND_PITCH3_DIST
{
return pitchdescend * (DESCEND_PITCH3_DIST - zdistanceleft) * oneOverDESCEND_3_MINUS_4_DIST;
}
else if (zdistanceleft < DESCEND_PITCH2_DIST) // DESCEND_PITCH3_DIST to DESCEND_PITCH2_DIST
{
return -pitchdescend * (zdistanceleft - DESCEND_PITCH3_DIST) * oneOverDESCEND_2_MINUS_3_DIST;
}
else // DESCEND_PITCH2_DIST +
{
return -pitchdescend;
}
}
else
{
if (zdistanceleft < 0.0f)
{
return 0.0f;
}
else if (zdistanceleft < DESCEND_PITCH4_DIST) // 0 to DESCEND_PITCH4_DIST
{
return -pitchdescend * zdistanceleft * oneOverDESCEND_PITCH4_DIST;
}
else if (zdistanceleft < DESCEND_PITCH3_DIST) // DESCEND_PITCH4_DIST to DESCEND_PITCH3_DIST
{
return -pitchdescend * (DESCEND_PITCH3_DIST - zdistanceleft) * oneOverDESCEND_3_MINUS_4_DIST;
}
else if (zdistanceleft < DESCEND_PITCH2_DIST) // DESCEND_PITCH3_DIST to DESCEND_PITCH2_DIST
{
return pitchdescend * (zdistanceleft - DESCEND_PITCH3_DIST) * oneOverDESCEND_2_MINUS_3_DIST;
}
else // DESCEND_PITCH2_DIST +
{
return pitchdescend;
}
}
}
void aishipGetTrajectoryWithVelPrediction(Ship *ship,SpaceObjRotImpTarg *target,real32 bulletspeed,vector *trajectory)
{
vector distToTargetVec;
real32 distToTargetMag;
real32 bullettraveltime;
vector deltatarget;
vecSub(distToTargetVec,target->collInfo.collPosition,ship->posinfo.position); // MUST be relative to ship->posinfo.position, because
// later it is modified into the ship's coordinate system
// for gun firing, which is based on ship->posinfo.position
if (bulletspeed <= DONTUSEVELOCITYPRED_IFBELOW)
{
// don't bother with velocity prediction for 0 bulletspeed
goto settrajectory;
}
distToTargetMag = fsqrt(vecMagnitudeSquared(distToTargetVec));
bullettraveltime = distToTargetMag / bulletspeed;
vecScalarMultiply(deltatarget,target->posinfo.velocity,bullettraveltime);
vecAddTo(distToTargetVec,deltatarget);
settrajectory:
*trajectory = distToTargetVec;
}
void aishipGetTrajectory(Ship *ship,SpaceObjRotImpTarg *target,vector *trajectory)
{
vecSub(*trajectory,target->collInfo.collPosition,ship->posinfo.position);
}
void aishipGetTrajectoryWithAngleCorrection(Ship *ship,SpaceObjRotImpTarg *target,vector *trajectory)
{
vector futurepos = ship->posinfo.position;
futurepos.x += (ship->posinfo.velocity.x * 0.25f);
futurepos.y += (ship->posinfo.velocity.y * 0.25f);
futurepos.z += (ship->posinfo.velocity.z * 0.25f);
vecSub(*trajectory,target->collInfo.collPosition,futurepos);
}
#define STATE_POINT_IN_DIRECTION 1
#define STATE_START_FLYING 2
real32 GetCollSizeInDirection(SpaceObjRotImp *obj,vector dir)
{
vector up;
vector right;
vector heading;
real32 upcomp,rightcomp,headingcomp;
StaticCollInfo *collInfo = &obj->staticinfo->staticheader.staticCollInfo;
matGetVectFromMatrixCol1(up,obj->rotinfo.coordsys);
matGetVectFromMatrixCol2(right,obj->rotinfo.coordsys);
matGetVectFromMatrixCol3(heading,obj->rotinfo.coordsys);
upcomp = abs(vecDotProduct(up,dir));
rightcomp = abs(vecDotProduct(right,dir));
headingcomp = abs(vecDotProduct(heading,dir));
return (upcomp*collInfo->uplength + rightcomp*collInfo->rightlength + headingcomp*collInfo->forwardlength)*0.5f;
}
/*-----------------------------------------------------------------------------
Name : rowSetDetails
Description : sets right of way details for a ship (callback function for statscript)
Inputs :
Outputs :
Return :
----------------------------------------------------------------------------*/
static void rowSetDetails(char *directory,char *field,void *dataToFillIn)
{
char shipstr[50];
sdword rowpri;
ShipType shiptype;
real32 rowAvoidByVal;
RemoveCommasFromString(field);
sscanf(field,"%s %d %f",shipstr,&rowpri,&rowAvoidByVal);
shiptype = StrToShipType(shipstr);
if ((shiptype < 0) || (shiptype >= TOTAL_NUM_SHIPS))
{
dbgFatalf(DBG_Loc,"Invalid shiptype read at line %s in aiship.script",field);
}
rightOfWays[shiptype] = (sbyte)rowpri;
rowAvoidBy[shiptype] = rowAvoidByVal;
}
/*-----------------------------------------------------------------------------
Name : GetDirectionOfTravel
Description : gets the direction of travel of ship
bases direction of travel based on where it's moving to if it's got a move command, otherwise
bases direction of travel on velocity of ship
Inputs :
Outputs :
Return :
----------------------------------------------------------------------------*/
void GetDirectionOfTravel(Ship *ship,vector *dirOfTravel)
{
if (!vecIsZero(ship->moveTo))
{
vecSub(*dirOfTravel,ship->moveTo,ship->moveFrom);
}
else
{
*dirOfTravel = ship->posinfo.velocity;
}
}
/*-----------------------------------------------------------------------------
Name : rowRemoveShipFromGettingOutOfWay
Description : removes getting out of way status from ship
Inputs :
Outputs :
Return :
----------------------------------------------------------------------------*/
void rowRemoveShipFromGettingOutOfWay(Ship *ship)
{
if (!(ship->specialFlags & SPECIAL_rowGettingOutOfWay))
{
return;
}
bitClear(ship->specialFlags,SPECIAL_rowGettingOutOfWay);
//bitClear(ship->dontrotateever,2);
bitClear(ship->dontapplyforceever,2);
ship->rowGetOutOfWay = NULL;
}
/*-----------------------------------------------------------------------------
Name : rowGetOutOfWayShipDiedCB
Description : callback function notify for when rowGetOutOfWay ship dies
Inputs :
Outputs :
Return :
----------------------------------------------------------------------------*/
void rowGetOutOfWayShipDiedCB(Ship *ship)
{
;
}
#define ROW_CAN_GET_OUT_OF_WAY 1
#define ROW_CANNOT_GET_OUT_OF_WAY 0
#define ROW_YOU_STILL_AVOID_ME -1
/*-----------------------------------------------------------------------------
Name : rowShipCanGetOutOfWayOfMe
Description : returns TRUE if the ship can get out of the way of me
Inputs : ship, me
Outputs :
Return : returns TRUE if the ship can get out of the way of me
----------------------------------------------------------------------------*/
sdword rowShipCanGetOutOfWayOfMe(Ship *ship,Ship *me)
{
CommandToDo *shipcommand = getShipAndItsCommand(&universe.mainCommandLayer,ship);
CommandToDo *mecommand;
if (ship->shiptype == Drone)
{
return ROW_CANNOT_GET_OUT_OF_WAY;
}
if (shipcommand == NULL)
{ // ship not doing anything, so it can get out of way
return ROW_CAN_GET_OUT_OF_WAY;
}
mecommand = getShipAndItsCommand(&universe.mainCommandLayer,me);
if (shipcommand == mecommand)
{
return ROW_YOU_STILL_AVOID_ME; // if ship and me are in the same command, we shouldn't use right of way
}
if (shipcommand->ordertype.attributes & COMMAND_IS_PROTECTING)
{
return ROW_CANNOT_GET_OUT_OF_WAY; // ships that are protecting are avoiding stuff anyway, shouldn't use right of way
}
if (mecommand && (mecommand->ordertype.attributes & COMMAND_IS_PROTECTING))
{
return ROW_CANNOT_GET_OUT_OF_WAY; // ships that are protecting are avoiding stuff anyway, shouldn't use right of way
}
switch (shipcommand->ordertype.order)
{
case COMMAND_NULL:
case COMMAND_HALT:
return ROW_CAN_GET_OUT_OF_WAY;
case COMMAND_MILITARYPARADE:
if (shipcommand->militaryParade->aroundShip == me)
{
return ROW_CANNOT_GET_OUT_OF_WAY; // ships in my parade shouldn't try to avoid me!
}
return ROW_CAN_GET_OUT_OF_WAY;
case COMMAND_MOVE:
case COMMAND_DOCK:
case COMMAND_ATTACK:
case COMMAND_SPECIAL:
return ROW_CANNOT_GET_OUT_OF_WAY;
default:
return ROW_CANNOT_GET_OUT_OF_WAY;
}
}
/*-----------------------------------------------------------------------------
Name : rowOriginalPointIsClear
Description : returns TRUE if original point is clear
(right-of-way ship we're getting out way of is not near it and
right-of-way ship is not heading in our direction)
Inputs :
Outputs :
Return : returns TRUE if original point is clear
----------------------------------------------------------------------------*/
bool rowOriginalPointIsClear(Ship *ship)
{
real32 avoidcollsize;
real32 avoidcollpad;
vector destToObj;
real32 destToObjMag2;
Ship *avoidme;
vector meToShip;
vector meDirOfTravel;
dbgAssert(ship->specialFlags & SPECIAL_rowGettingOutOfWay);
avoidme = ship->rowGetOutOfWay;
if (avoidme == NULL)
{
return TRUE;
}
GetDirectionOfTravel(avoidme,&meDirOfTravel);
vecSub(meToShip,ship->collInfo.collPosition,avoidme->collInfo.collPosition);
if (vecDotProduct(meToShip,meDirOfTravel) > 0.0f)
{
// right-of-way ship (avoidme) is still heading in our direction, must wait till it is not
return FALSE;
}
avoidcollsize = avoidme->staticinfo->staticheader.staticCollInfo.avoidcollspheresize;
avoidcollpad = avoidme->staticinfo->staticheader.staticCollInfo.avoidcollspherepad;
vecSub(destToObj,avoidme->collInfo.collPosition,ship->rowOriginalPoint);
destToObjMag2 = vecMagnitudeSquared(destToObj);
if (destToObjMag2 < (avoidcollsize*avoidcollsize))
{
return FALSE;
}
// later check all ships in nearest blob too?
return TRUE;
}
#define rowHANG_AROUND_TILL_SHIP_OUT_OF_WAY 1
#define rowFLY_BACK_TO_ORIGINAL_POINT 2
/*-----------------------------------------------------------------------------
Name : rowFlyShipOutOfWay
Description : flys ship out of way
Inputs :
Outputs :
Return :
----------------------------------------------------------------------------*/
void rowFlyShipOutOfWay(Ship *ship)
{
dbgAssert(ship->specialFlags & SPECIAL_rowGettingOutOfWay);
//bitClear(ship->dontrotateever,2);
bitClear(ship->dontapplyforceever,2);
switch (ship->rowState)
{
case 0: // fly to rowOutOfWayPoint
if (ship->rowGetOutOfWay == NULL)
{
ship->rowState = rowFLY_BACK_TO_ORIGINAL_POINT;
break;
}
if (rowOriginalPointIsClear(ship))
{
ship->rowState = rowFLY_BACK_TO_ORIGINAL_POINT;
break;
}
if (MoveReachedDestinationVariable(ship,&ship->rowOutOfWayPoint,50.0f))
{
ship->rowState = rowHANG_AROUND_TILL_SHIP_OUT_OF_WAY;
break;
}
aishipFlyToPointAvoidingObjs(ship,&ship->rowOutOfWayPoint,0,0.0f);
break;
case rowHANG_AROUND_TILL_SHIP_OUT_OF_WAY:
if (ship->rowGetOutOfWay == NULL)
{
ship->rowState = rowFLY_BACK_TO_ORIGINAL_POINT;
break;
}
if (rowOriginalPointIsClear(ship))
{
ship->rowState = rowFLY_BACK_TO_ORIGINAL_POINT;
break;
}
// just hover around here
aishipFlyToPointAvoidingObjs(ship,NULL,0,0.0f);
break;
case rowFLY_BACK_TO_ORIGINAL_POINT:
if (MoveReachedDestinationVariable(ship,&ship->rowOriginalPoint,50.0f))
{
rowRemoveShipFromGettingOutOfWay(ship); // we're done!
return;
}
if (aishipFlyToPointAvoidingObjs(ship,&ship->rowOriginalPoint,AISHIP_DontFlyToObscuredPoints|AISHIP_ReturnImmedIfPointObscured,0.0f) & AISHIP_FLY_OBJECT_IN_WAY)
{
rowRemoveShipFromGettingOutOfWay(ship); // we're done!
return;
}
break;
default:
dbgAssert(FALSE);
break;
}
//bitSet(ship->dontrotateever,2);
bitSet(ship->dontapplyforceever,2);
}
/*-----------------------------------------------------------------------------
Name : rowSignalShipToGetOutOfWayOfMe
Description : tells ship to get out of the way of me
Inputs : ship, me
me is the right of way ship (get out of way of me)
ship is avoiding ship
Outputs :
Return :
----------------------------------------------------------------------------*/
void rowSignalShipToGetOutOfWayOfMe(Ship *ship,Ship *me,vector *meToShip,vector *meDirOfTravel)
{
vector delta;
ship->specialFlags |= SPECIAL_rowGettingOutOfWay;
//bitSet(ship->dontrotateever,2);
bitSet(ship->dontapplyforceever,2);
ship->rowState = 0;
ship->rowGetOutOfWay = me;
ship->rowOriginalPoint = ship->posinfo.position;
// calculate outOfWayPoint;
if ((me->shiprace == R1) && (me->shiptype == Mothership))
{
// special case solution for R1 Mothership
// under no circumstances do we want ships going up or down to avoid the R1 Mothership!
vector meToShipNorm = *meToShip;
vector meDirOfTravelNorm = *meDirOfTravel;
vector directionOfParting;
vector up = { 0.0f, 0.0f, 1.0f };
vector test;
meToShipNorm.z = 0.0f;
meDirOfTravelNorm.z = 0.0f;
vecNormalize(&meToShipNorm);
vecNormalize(&meDirOfTravelNorm);
// find direction ships should part in (should be on x-y plane and perpendicular to direction of movement of mothership)
vecCrossProduct(directionOfParting,meDirOfTravelNorm,up);
// now find out if we should go in directionOfParting or -directionOfParting
vecCrossProduct(test,meDirOfTravelNorm,meToShipNorm);
if (test.z > 0.0f)
{
vecNegate(directionOfParting);
}
vecScalarMultiply(delta,directionOfParting,AVOID_ROW_R1MOTHERSHIP_BY);
}
else
{
vector meDirOfTravelNorm = *meDirOfTravel;
vector meToShipNorm;
real32 avoidby = rowAvoidBy[me->shiptype];
if (avoidby == 0.0f) avoidby = me->staticinfo->staticheader.staticCollInfo.avoidcollspheresize*AVOID_ROW_SHIP_BY_SCALE + AVOID_ROW_SHIP_BY_ADD;
vecNormalize(&meDirOfTravelNorm);
if ((meDirOfTravelNorm.z > ROW_GOING_MOSTLY_UPDOWN_ANGLE) || (meDirOfTravelNorm.z < -ROW_GOING_MOSTLY_UPDOWN_ANGLE))
{
// ship we are trying to avoid is going mainly up/down, so we should move on x-y plane.
vector directionOfParting;
vector up = { 0.0f, 0.0f, 1.0f };
vector test;
meToShipNorm = *meToShip;
meDirOfTravelNorm = *meDirOfTravel;
meToShipNorm.z = 0.0f;
meDirOfTravelNorm.z = 0.0f;
vecNormalize(&meToShipNorm);
vecNormalize(&meDirOfTravelNorm);
// find direction ships should part in (should be on x-y plane and perpendicular to direction of movement of me)
vecCrossProduct(directionOfParting,meDirOfTravelNorm,up);
// now find out if we should go in directionOfParting or -directionOfParting
vecCrossProduct(test,meDirOfTravelNorm,meToShipNorm);
if (test.z > 0.0f)
{
vecNegate(directionOfParting);
}
vecScalarMultiply(delta,directionOfParting,avoidby);
}
else
{
// move up or down to get out of way
if ((-meToShip->z) > (avoidby*ROW_GO_DOWN_INSTEAD_OF_UP_RATIO)) // if me is above ship by this let's go down
{
// go down
vecSet(delta,0.0f,0.0f,-avoidby);
}
else
{
// go up
vecSet(delta,0.0f,0.0f,avoidby);
}
}
}
vecAdd(ship->rowOutOfWayPoint,ship->posinfo.position,delta);
}
/*-----------------------------------------------------------------------------
Name : rowSignalLeaderInFormationToGetOutOfWayOfMe
Description : tells other ships in ship's formation to get out of the way of me
Inputs : ship, me
me is the right of way ship (get out of way of me)
Outputs :
Return :
----------------------------------------------------------------------------*/
void rowSignalLeaderInFormationToGetOutOfWayOfMe(Ship *ship,Ship *me,vector *meToShip,vector *meDirOfTravel)
{
SelectCommand *selection = ship->formationcommand->selection;
//sdword numShips;
//sdword i;
Ship *shipi;
dbgAssert(selection);
dbgAssert(selection->numShips > 0);
//numShips = selection->numShips;
shipi = selection->ShipPtr[0];
if (!(shipi->specialFlags & SPECIAL_rowGettingOutOfWay)) // not already getting out of way
{
rowSignalShipToGetOutOfWayOfMe(shipi,me,meToShip,meDirOfTravel);
}
#if 0
for (i=0;i<numShips;i++)
{
shipi = selection->ShipPtr[i];
if (shipi != ship)
{
if (!(shipi->specialFlags & SPECIAL_rowGettingOutOfWay)) // not already getting out of way
{
rowSignalShipToGetOutOfWayOfMe(shipi,me,meToShip,meDirOfTravel);
}
}
}
#endif
}
udword aishipFlyToPointAvoidingObjsFunc(Ship *ship,vector *destination,udword aishipflags,real32 limitvel,vector *withVel)
{
vector desiredVel;
vector desiredHead;
vector targetVec;
sdword objindex;
SpaceObjRotImp *avoidobj = NULL;
ShipStaticInfo *shipstaticinfo = (ShipStaticInfo *)ship->staticinfo;
blob *thisBlob = NULL;
SelectAnyCommand *targetsAvoid = NULL;
vector repulse;
vector repulsenorm;
real32 repulsedist;
real32 repulsemag2;
#if VELFACTOR
real32 velfactor;
#endif
real32 collidedist;
real32 distanceToCollision;
real32 testExactOpposite;
real32 shipcollsize,shipcollpad,shiprowcollpad;
real32 avoidcollsize = 0,avoidcollpad = 0;
real32 maxavoidcollsize,maxavoidcollpad;
real32 maxdistconsider;
real32 temp;
real32 zdistanceleft;
real32 pitchtodescend;
udword returnflag = 0;
#ifndef HW_Release
udword considered = 0;
#endif
sdword pass;
sdword bottom,top;
sdword numTargets;
real32 distcheck;
real32 maxpossibledist;
real32 obscureaddcollsize = 0;
real32 destToObjDist;
vector destToObjNorm;
bool rowEnabled;
CommandToDo *shipcommand = ship->command;
real32 useAVOID_OBJ_SCALE_FACTOR = AVOID_OBJ_SCALE_FACTOR;
SpaceObjRotImpTarg *takeOutInMyWay = NULL;
if (ship->dontapplyforceever)
{
return 0; // no point wasting our time
}
if (ship->staticinfo->staticheader.immobile)
{
return 0; // no point wasting our time
}
PTSTART(2);
if (isStrikeCraft(ship->shiptype))
{
if ((shipcommand) && (shipcommand->ordertype.order == COMMAND_ATTACK))
{
useAVOID_OBJ_SCALE_FACTOR = COMBAT_AVOID_OBJ_SCALE_FACTOR;
}
}
else if (ship->shiptype == Probe)
{
if (((ProbeSpec *)ship->ShipSpecifics)->HaveMoved)
{
useAVOID_OBJ_SCALE_FACTOR = PROBE_AVOID_OBJ_SCALE_FACTOR;
}
}
aishipStatsInit(ship);
aishipStatsState(ship->aistate);
switch (ship->aistate)
{
/*=============================================================================
State 0