Improve AI targeting by looking at the angle as well as the distance …

…for switching targets.

src/cpuShip.cpp

@@ -46,8 +46,8 @@ void CpuShip::update(float delta)
         missile_fire_delay -= delta;
 
     //Check the weapon state,
-    bool has_missiles = weapon_tubes > 0 && weapon_storage[MW_Homing] > 0;
-    bool has_beams = false;
+    has_missiles = weapon_tubes > 0 && weapon_storage[MW_Homing] > 0;
+    has_beams = false;
     //If we have weapon tubes, load them with torpedoes
     for(int n=0; n<weapon_tubes; n++)
     {
@@ -57,7 +57,7 @@ void CpuShip::update(float delta)
             has_missiles = true;
     }
 
-    float beam_weapon_range = 0;
+    beam_weapon_range = 0;
     for(int n=0; n<maxBeamWeapons; n++)
     {
         if (beamWeapons[n].range > 0)
@@ -73,18 +73,14 @@ void CpuShip::update(float delta)
 
     P<SpaceObject> target = getTarget();
     P<SpaceObject> new_target;
-    float target_distance = 0.0;
     if (target && target->hideInNebula() && (target->getPosition() - getPosition()) > 5000.0f && Nebula::blockedByNebula(getPosition(), target->getPosition()))
     {
         if (orders == AI_Roaming)
             order_target_location = target->getPosition();
         target = NULL;
     }
 
-    if (target)
-        target_distance = sf::length(target->getPosition() - getPosition());
-
-    //Find new target
+    //Find new target which we might switch to
     if (orders == AI_Roaming)
         new_target = findBestTarget(getPosition(), 8000);
     if (orders == AI_StandGround || orders == AI_FlyTowards)
@@ -104,9 +100,11 @@ void CpuShip::update(float delta)
     }
     if (orders == AI_Attack)
         new_target = order_target;
+
     //Check if we need to drop the current target
     if (target)
     {
+        float target_distance = sf::length(target->getPosition() - getPosition());
         if (orders == AI_Idle)
             target = NULL;
         if (orders == AI_StandGround && target_distance > 8000)
@@ -129,21 +127,10 @@ void CpuShip::update(float delta)
     //Check if we want to switch to a new target
     if (new_target)
     {
-        float new_distance = sf::length(new_target->getPosition() - getPosition());
-        P<SpaceStation> station = target;
-        if (station)
+        if (!target || betterTarget(new_target, target))
         {
-            if (target_distance > new_distance - 5000)
-            {
-                target = new_target;
-                targetId = new_target->getMultiplayerId();
-            }
-        }else{
-            if (!target || (target_distance > new_distance * 1.5f && new_distance > 1500.0))
-            {
-                target = new_target;
-                targetId = new_target->getMultiplayerId();
-            }
+            target = new_target;
+            targetId = new_target->getMultiplayerId();
         }
     }
 
@@ -335,7 +322,7 @@ void CpuShip::update(float delta)
 
 P<SpaceObject> CpuShip::findBestTarget(sf::Vector2f position, float radius)
 {
-    float target_distance = 0.0;
+    float target_score = 0.0;
     PVector<Collisionable> objectList = CollisionManager::queryArea(position - sf::Vector2f(radius, radius), position + sf::Vector2f(radius, radius));
     P<SpaceObject> target;
     foreach(Collisionable, obj, objectList)
@@ -345,21 +332,55 @@ P<SpaceObject> CpuShip::findBestTarget(sf::Vector2f position, float radius)
             continue;
         if (space_object->hideInNebula() && (space_object->getPosition() - getPosition()) > 5000.0f && Nebula::blockedByNebula(getPosition(), space_object->getPosition()))
             continue;
-        float distance = sf::length(space_object->getPosition() - position);
-        if (distance > radius)
-            continue;
-        P<SpaceStation> station = space_object;
-        if (station)
-            distance += 5000;
-        if (!target || target_distance > distance)
+        float score = targetScore(space_object);
+        if (!target || score > target_score)
         {
             target = space_object;
-            target_distance = distance;
+            target_score = score;
         }
     }
     return target;
 }
 
+float CpuShip::targetScore(P<SpaceObject> target)
+{
+    sf::Vector2f position_difference = target->getPosition() - getPosition();
+    float distance = sf::length(position_difference);
+    //sf::Vector2f position_difference_normal = position_difference / distance;
+    //float rel_velocity = dot(target->getVelocity(), position_difference_normal) - dot(getVelocity(), position_difference_normal);
+    float angle_difference = sf::angleDifference(getRotation(), sf::vector2ToAngle(position_difference));
+    float score = -distance - fabsf(angle_difference / rotationSpeed * impulseMaxSpeed) * 1.5f;
+    if (P<SpaceStation>(target))
+        score -= 5000;
+    if (distance < 5000 && has_missiles)
+        score += 500;
+    /*
+    if (distance < beam_weapon_range)
+    {
+        for(int n=0; n<maxBeamWeapons; n++)
+        {
+            if (distance < beamWeapons[n].range)
+            {
+                //if (sf::angleDifference(angle_difference, beamWeapons[n].direction) < beamWeapons[n].arc / 2.0f)
+                //    score += 1000;
+            }
+        }
+    }
+    */
+    return score;
+}
+
+bool CpuShip::betterTarget(P<SpaceObject> new_target, P<SpaceObject> current_target)
+{
+    float new_score = targetScore(new_target);
+    float current_score = targetScore(current_target);
+    if (new_score > current_score * 1.5f)
+        return true;
+    if (new_score > current_score + 5000.0f)
+        return true;
+    return false;
+}
+
 void CpuShip::orderIdle()
 {
     orders = AI_Idle;

src/cpuShip.h

@@ -25,15 +25,17 @@ class CpuShip : public SpaceShip
     sf::Vector2f order_target_location; //Server only
     P<SpaceObject> order_target;        //Server only
     float missile_fire_delay;
+
+    bool has_missiles;//Server only, updated every update
+    bool has_beams;//Server only, updated every update
+    float beam_weapon_range;//Server only, updated every update
 
     PathPlanner pathPlanner;
 public:
     CpuShip();
 
     virtual void update(float delta);
 
-    P<SpaceObject> findBestTarget(sf::Vector2f position, float radius);
-
     void orderIdle();
     void orderRoaming();
     void orderStandGround();
@@ -47,6 +49,11 @@ class CpuShip : public SpaceShip
     EAIOrder getOrder() { return orders; }
 
     friend class GameMasterUI;
+
+private:
+    P<SpaceObject> findBestTarget(sf::Vector2f position, float radius);
+    float targetScore(P<SpaceObject> target);
+    bool betterTarget(P<SpaceObject> new_target, P<SpaceObject> current_target);
 };
 string getAIOrderString(EAIOrder order);
 

src/crewCommsUI.cpp

@@ -136,7 +136,7 @@ void CrewCommsUI::drawCommsRadar()
         if (InputHandler::mouseIsReleased(sf::Mouse::Left) && mouse.x > x)
         {
             P<SpaceObject> target;
-            float target_pixel_distance;
+            float target_pixel_distance = 0.0;
             foreach(SpaceObject, obj, visible_objects)
             {
                 if(obj == my_spaceship)

src/crewScienceUI.cpp

@@ -24,7 +24,7 @@ void CrewScienceUI::onCrewUI()
             if (sf::length(diff) < 400)
             {
                 P<SpaceObject> target;
-                float target_pixel_distance;
+                float target_pixel_distance = 0.0;
                 for(unsigned int n=0; n<scan_ghost.size(); n++)
                 {
                     P<SpaceObject> obj = scan_ghost[n].object;

src/gameMasterUI.cpp

@@ -178,7 +178,7 @@ void GameMasterUI::onGui()
                 sf::VertexArray a(sf::Lines, 2);
                 a[0].position = sf::Vector2f(800, 450) + (cpuShip->getPosition() - view_position) / view_distance * 400.0f;
                 a[1].position = sf::Vector2f(800, 450) + (target->getPosition() - view_position) / view_distance * 400.0f;
-                a[0].color = a[1].color = sf::Color(255, 255, 255, 32);
+                a[0].color = a[1].color = sf::Color(255, 128, 128, 32);
                 window.draw(a);
             }
             sf::VertexArray a(sf::LinesStrip, cpuShip->pathPlanner.route.size() + 1);
@@ -191,6 +191,12 @@ void GameMasterUI::onGui()
             }
             window.draw(a);
         }
+        if (selection.size() == 1 && P<CpuShip>(selection[0]))
+        {
+            P<CpuShip> cpu = selection[0];
+            sf::Vector2f pos = sf::Vector2f(800, 450) + (obj->getPosition() - view_position) / view_distance * 400.0f;
+            text(sf::FloatRect(pos.x, pos.y - 20.0f, 0.0f, 0.0f), string(cpu->targetScore(obj)), AlignCenter, 20);
+        }
     }
     sf::RectangleShape sidebackBackground(sf::Vector2f(300, 900));
     sidebackBackground.setFillColor(sf::Color(0, 0, 0, 128));

src/spaceship.cpp

@@ -352,9 +352,9 @@ void SpaceShip::update(float delta)
     float rotationDiff = sf::angleDifference(getRotation(), targetRotation);
 
     if (rotationDiff > 1.0)
-        setAngularVelocity(rotationSpeed);
+        setAngularVelocity(rotationSpeed * getSystemEffectiveness(SYS_Maneuver));
     else if (rotationDiff < -1.0)
-        setAngularVelocity(-rotationSpeed);
+        setAngularVelocity(-rotationSpeed * getSystemEffectiveness(SYS_Maneuver));
     else
         setAngularVelocity(rotationDiff * rotationSpeed * getSystemEffectiveness(SYS_Maneuver));