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ShipAICmd.cpp
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ShipAICmd.cpp
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// Copyright © 2008-2023 Pioneer Developers. See AUTHORS.txt for details
// Licensed under the terms of the GPL v3. See licenses/GPL-3.txt
#include "ShipAICmd.h"
#include "Frame.h"
#include "Game.h"
#include "JsonUtils.h"
#include "Pi.h"
#include "Planet.h"
#include "Ship.h"
#include "Space.h"
#include "SpaceStation.h"
#include "perlin.h"
#include "ship/Propulsion.h"
static const double VICINITY_MIN = 15000.0;
static const double VICINITY_MUL = 4.0;
AICommand *AICommand::LoadFromJson(const Json &jsonObj)
{
// Return 0 if supplied object doesn't contain an "ai_command" object.
if (!jsonObj.count("ai_command")) return 0;
try {
Json aiCommandObj = jsonObj["ai_command"];
Json commonAiCommandObj = aiCommandObj["common_ai_command"];
CmdName name = CmdName(commonAiCommandObj["command_name"]);
switch (name) {
case CMD_NONE:
default: return 0; // No longer need CMD_NONE (see AICommand::SaveToJson notes).
case CMD_DOCK: return new AICmdDock(aiCommandObj);
case CMD_FLYTO: return new AICmdFlyTo(aiCommandObj);
case CMD_FLYAROUND: return new AICmdFlyAround(aiCommandObj);
case CMD_KILL: return new AICmdKill(aiCommandObj);
case CMD_KAMIKAZE: return new AICmdKamikaze(aiCommandObj);
case CMD_HOLDPOSITION: return new AICmdHoldPosition(aiCommandObj);
case CMD_FORMATION: return new AICmdFormation(aiCommandObj);
}
} catch (Json::type_error &) {
throw SavedGameCorruptException();
}
}
void AICommand::SaveToJson(Json &jsonObj)
{
// AICommand is an abstract base class, so it is guaranteed that the supplied object
// is the top-level JSON object (always named "ai_command") encoding the specific ai command.
// The top-level ai command object will contain:
// (1) the specific ai command data (already created and added in the overriding concrete class function), and
// (2) the common ai command object (created and added in this base class function).
// The command name (enum CmdName) and a child ai command (if this ai command has one) are added to the common ai command object.
// No longer need to save CMD_NONE when a child ai command does not exist (just don't add a child ai command object).
Space *space = Pi::game->GetSpace();
Json commonAiCommandObj({}); // Create JSON object to contain common ai command data.
commonAiCommandObj["command_name"] = m_cmdName;
commonAiCommandObj["index_for_body"] = space->GetIndexForBody(m_dBody);
commonAiCommandObj["is_flyto"] = m_is_flyto;
if (m_child) m_child->SaveToJson(commonAiCommandObj);
jsonObj["common_ai_command"] = commonAiCommandObj; // Add common ai command object to supplied object.
}
AICommand::AICommand(const Json &jsonObj, CmdName name) :
m_cmdName(name)
{
try {
Json commonAiCommandObj = jsonObj["common_ai_command"];
m_dBodyIndex = commonAiCommandObj["index_for_body"];
m_is_flyto = commonAiCommandObj["is_flyto"];
m_child.reset(LoadFromJson(commonAiCommandObj));
} catch (Json::type_error &) {
throw SavedGameCorruptException();
}
}
void AICommand::PostLoadFixup(Space *space)
{
// subsystem should be initializated on each inherited AICommand
m_dBody = static_cast<DynamicBody *>(space->GetBodyByIndex(m_dBodyIndex));
if (m_child) m_child->PostLoadFixup(space);
}
bool AICommand::ProcessChild()
{
if (!m_child) return true; // no child present
m_child->m_is_flyto = false;
if (!m_child->TimeStepUpdate()) return false; // child still active
m_child.reset();
return true; // child finished
}
/*
// temporary evasion-test version
bool AICmdKill::TimeStepUpdate()
{
m_timeSinceChange += Pi::game->GetTimeStep();
if (m_timeSinceChange < m_changeTime) {
m_ship->AIFaceDirection(m_curDir);
return false;
}
m_ship->ClearThrusterState();
// ok, so now pick new direction
vector3d targdir = m_target->GetPositionRelTo(m_ship).Normalized();
vector3d tdir1 = targdir.Cross(vector3d(targdir.z+0.1, targdir.x, targdir.y));
tdir1 = tdir1.Normalized();
vector3d tdir2 = targdir.Cross(tdir1);
double d1 = Pi::rng.Double() - 0.5;
double d2 = Pi::rng.Double() - 0.5;
m_curDir = (targdir + d1*tdir1 + d2*tdir2).Normalized();
m_ship->AIFaceDirection(m_curDir);
m_ship->SetThrusterState(ShipType::THRUSTER_FORWARD, 0.66); // give player a chance
switch(Pi::rng.Int32() & 0x3)
{
case 0x0: m_ship->SetThrusterState(ShipType::THRUSTER_LEFT, 0.7); break;
case 0x1: m_ship->SetThrusterState(ShipType::THRUSTER_RIGHT, 0.7); break;
case 0x2: m_ship->SetThrusterState(ShipType::THRUSTER_UP, 0.7); break;
case 0x3: m_ship->SetThrusterState(ShipType::THRUSTER_DOWN, 0.7); break;
}
m_timeSinceChange = 0.0f;
m_changeTime = (float)Pi::rng.Double() * 10.0f;
return false;
}
*/
// goals of this command:
// 1. inflict damage on current target
// 2. avoid taking damage to self
// two sub-patterns:
// 1. point at leaddir, shift sideways, adjust range with front/rear
// 2. flypast - change angle to target as rapidly as possible
/*
bool AICmdKill::TimeStepUpdate()
{
if (GetDockedWith()) Undock();
if (m_ship->GetFlightState() != Ship::FLYING) return false; // wait until active
SetGunState(0,0);
// do pattern timeout here
bool rval = true;
switch (m_state) {
case 0: break;
case 1: rval = PatternKill(); break;
case 2: rval = PatternShift(); break;
case 3: rval = PatternEvade(); break; // full evades should be in higher level function
}
// have the following things to pass from higher-level function:
// 1. whether to evade or counter-evade
// 2. desired separation (based on relative ship sizes + random)
// long term factors:
// if our angular accel is higher, flypast and close-range combat become more effective
m_accRatio = (m_target->GetShipType().angThrust * m_ship->GetAngularInertia())
/ (m_ship->GetShipType().angThrust * m_target->GetAngularInertia());
// if their ship is relatively large, want to use longer distances or more evasion
m_sizeRatio = m_target->GetBoundingRadius() / m_ship->GetBoundingRadius();
// if their ship has higher-speed weaponry, want to use closer distances or less evasion
// m_wpnSpeedRatio = Equip::types[m_ship->m_equipment.Get(Equip::SLOT_LASERS, 0)]
// Immediate factors:
// if their laser temperature is high, counter-evade and close range
// if our laser temperature is high, full evade and increase range
// if outmatched, run away?
// if under attack from other ships, may evade randomly
// if opponent is not visible, may enter random control mode
// if not visible to opponent and close, may attempt to stay in blind spot?
if (rval) { // current pattern complete, pick which to use next
// danger metrics: damage taken, target heading & range,
// separate danger from target and danger from elsewhere?
// *could* check
}
}
*/
// assumes approximate target facing and cleared thruster state
// curdist => current distance from target
// curspeed => current speed towards target, positive towards
// reqdist => desired distance from target
// speedmargin => don't use thrust if within this value of ideal speed
/*
double AICmdKill::MaintainDistance(double curdist, double curspeed, double reqdist, double speedmargin)
{
// use maximum *deceleration*
const ShipType &stype = m_ship->GetShipType();
double rearaccel = stype.linThrust[ShipType::THRUSTER_REVERSE] / m_ship->GetMass();
// v = sqrt(2as)
double ispeed = sqrt(2.0 * rearaccel * (curdist - reqdist));
double vdiff = ispeed - curspeed;
if (vdiff*vdiff < speedmargin*speedmargin) return 0;
if (vdiff > 0.0) return -1.0;
else return 1.0;
}
*/
static void LaunchShip(Ship *ship)
{
if (ship->GetFlightState() == Ship::LANDED)
ship->Blastoff();
else if (ship->GetFlightState() == Ship::DOCKED)
ship->Undock();
}
void AICmdKamikaze::OnDeleted(const Body *body)
{
AICommand::OnDeleted(body);
if (static_cast<Body *>(m_target) == body) m_target = 0;
}
AICmdKamikaze::AICmdKamikaze(DynamicBody *dBody, Body *target) :
AICommand(dBody, CMD_KAMIKAZE)
{
m_target = target;
m_prop = m_dBody->GetComponent<Propulsion>();
assert(m_prop != nullptr);
}
AICmdKamikaze::AICmdKamikaze(const Json &jsonObj) :
AICommand(jsonObj, CMD_KAMIKAZE)
{
if (!jsonObj.count("index_for_target")) throw SavedGameCorruptException();
m_targetIndex = jsonObj["index_for_target"];
}
void AICmdKamikaze::SaveToJson(Json &jsonObj)
{
Space *space = Pi::game->GetSpace();
Json aiCommandObj({}); // Create JSON object to contain ai command data.
AICommand::SaveToJson(aiCommandObj);
aiCommandObj["index_for_target"] = space->GetIndexForBody(m_target);
jsonObj["ai_command"] = aiCommandObj; // Add ai command object to supplied object.
}
void AICmdKamikaze::PostLoadFixup(Space *space)
{
AICommand::PostLoadFixup(space);
m_target = space->GetBodyByIndex(m_targetIndex);
// Ensure needed sub-system:
m_prop = m_dBody->GetComponent<Propulsion>();
assert(m_prop != nullptr);
}
bool AICmdKamikaze::TimeStepUpdate()
{
if (!m_target || m_target->IsDead()) return true;
if (m_dBody->IsType(ObjectType::SHIP)) {
// "Standard" checks for a ship...
Ship *ship = static_cast<Ship *>(m_dBody);
assert(ship != nullptr);
if (ship->GetFlightState() == Ship::JUMPING) return false;
if (ship->GetFlightState() == Ship::FLYING)
ship->SetWheelState(false);
else {
LaunchShip(ship);
return false;
}
ship->SetGunState(0, 0);
} else {
// Missile, for now ;-)
}
const vector3d targetPos = m_target->GetPositionRelTo(m_dBody);
const vector3d targetDir = targetPos.NormalizedSafe();
const double dist = targetPos.Length();
// Don't come in too fast when we're close, so we don't overshoot by
// too much if we miss the target.
// Aim to collide at a speed which would take us 4s to reverse.
const double aimCollisionSpeed = m_prop->GetAccelFwd() * 2;
// Aim to use 1/4 of our acceleration for braking while closing
// distance, leaving the rest for course adjustment.
const double brake = m_prop->GetAccelFwd() / 4;
const double aimRelSpeed =
sqrt(aimCollisionSpeed * aimCollisionSpeed + 2 * dist * brake);
const vector3d aimVel = aimRelSpeed * targetDir + m_target->GetVelocityRelTo(m_dBody->GetFrame());
const vector3d accelDir = (aimVel - m_dBody->GetVelocity()).NormalizedSafe();
m_prop->ClearLinThrusterState();
m_prop->ClearAngThrusterState();
m_prop->AIFaceDirection(accelDir);
m_prop->AIAccelToModelRelativeVelocity(aimVel * m_dBody->GetOrient());
return false;
}
void AICmdKill::OnDeleted(const Body *body)
{
if (static_cast<Body *>(m_target) == body) m_target = 0;
AICommand::OnDeleted(body);
}
AICmdKill::AICmdKill(DynamicBody *dBody, Ship *target) :
AICommand(dBody, CMD_KILL)
{
m_target = target;
m_leadTime = m_evadeTime = m_closeTime = 0.0;
m_lastVel = m_target->GetVelocity();
m_prop = m_dBody->GetComponent<Propulsion>();
m_fguns = m_dBody->GetComponent<FixedGuns>();
assert(m_prop != nullptr);
assert(m_fguns != nullptr);
}
AICmdKill::AICmdKill(const Json &jsonObj) :
AICommand(jsonObj, CMD_KILL)
{
m_targetIndex = jsonObj["index_for_target"];
}
void AICmdKill::SaveToJson(Json &jsonObj)
{
Space *space = Pi::game->GetSpace();
Json aiCommandObj({}); // Create JSON object to contain ai command data.
AICommand::SaveToJson(aiCommandObj);
aiCommandObj["index_for_target"] = space->GetIndexForBody(m_target);
jsonObj["ai_command"] = aiCommandObj; // Add ai command object to supplied object.
}
AICmdKill::~AICmdKill()
{
if (m_fguns) m_fguns->SetGunFiringState(0, 0);
}
void AICmdKill::PostLoadFixup(Space *space)
{
AICommand::PostLoadFixup(space);
m_target = static_cast<Ship *>(space->GetBodyByIndex(m_targetIndex));
m_leadTime = m_evadeTime = m_closeTime = 0.0;
m_lastVel = m_target->GetVelocity();
// Ensure needed sub-system:
m_prop = m_dBody->GetComponent<Propulsion>();
m_fguns = m_dBody->GetComponent<FixedGuns>();
assert(m_prop != nullptr);
assert(m_fguns != nullptr);
}
bool AICmdKill::TimeStepUpdate()
{
if (m_dBody->IsType(ObjectType::SHIP)) {
Ship *ship = static_cast<Ship *>(m_dBody);
assert(ship != nullptr);
if (ship->GetFlightState() == Ship::JUMPING) return false;
if (ship->GetFlightState() == Ship::FLYING)
ship->SetWheelState(false);
else {
LaunchShip(ship);
return false;
}
} else {
// Maybe be a drone ;-)
return false;
}
if (!m_target || m_target->IsDead()) return true;
const vector3d targpos = m_target->GetPositionRelTo(m_dBody);
double dist = targpos.LengthSqr();
//Autopilot leads to a point VICINITY_MIN in front of target
//If terget (Player) is manouvering this point might never be reached..
if(m_child) {
if(dist < (VICINITY_MIN + 1000.0) * (VICINITY_MIN + 1000.0)) //no sqrt on dist yet
m_child.reset();
else if (!ProcessChild())
return false;
}
dist = sqrt(dist);
const matrix3x3d &rot = m_dBody->GetOrient();
vector3d targvel = m_target->GetVelocityRelTo(m_dBody);
vector3d targdir = targpos.NormalizedSafe();
vector3d heading = -rot.VectorZ();
// 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_prop->AIGetLeadDir(m_target, targaccel, m_fguns->GetProjSpeed(0));
if (dist >= VICINITY_MIN + 1000.0) { // if really far from target, intercept
// Output("%s started AUTOPILOT\n", m_ship->GetLabel().c_str());
m_child.reset(new AICmdFlyTo(m_dBody, m_target));
ProcessChild();
return false;
}
// 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_dBody->GetPhysRadius() / dist;
vissize += (0.05 + 0.5 * leaddiff) * Pi::rng.Double() * skillShoot;
if (vissize > headdiff)
m_fguns->SetGunFiringState(0, 1);
else
m_fguns->SetGunFiringState(0, 0);
float max_fire_dist = m_fguns->GetGunRange(0);
if (max_fire_dist > 4000) max_fire_dist = 4000;
if (dist > max_fire_dist) m_fguns->SetGunFiringState(0, 0); // temp
}
m_leadOffset += m_leadDrift * Pi::game->GetTimeStep();
double leadAV = (leaddir - targdir).Dot((leaddir - heading).NormalizedSafe()); // leaddir angvel
m_prop->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);
vector3d targhead = -m_target->GetOrient().VectorZ() * 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 += dist / 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_prop->GetLinThrusterState();
// 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 ispeed;
double rearaccel = m_prop->GetAccelRev();
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_prop->GetLinThrusterState().z;
m_prop->SetLinThrusterState(evadethrust);
return false;
}
//Four modes for evasion vector...
// 1. target is main threat - consider heading and sweep
// 2. other ship is main threat - consider laser bolt position
// 3. no real threat - just reduce velocity vector
// 4. random
// ok, can't really decide what's best.
// best: evade from heading if low velocity, otherwise evade in direction of angvel
// first need to consider whether danger is sufficiently high to prioritise evasion
// back to the threat metrics thing
// ok, threat of target
// ideally just watch nearby laser bolts
// take account of:
// 1. range (both for hit chance and output)
// 2. laser output (consider recharge) vs armour
// 3. proximity and speed of lead angle
// double range = targpos.Length(), rthreat;
// if(range < 200.0) rthreat = 1.0;
// else if(range > maxlrange) rthreat = 0.0;
// else rthreat = (maxlrange-range) / (maxlrange-200.0);
// rthreat *= rthreat; // not enough maybe. consider aim, power and evasion time
// hmm. could consider heading strictly, like watching laser bolts.
// vector3d targld = m_target->AIGetLeadDir(m_ship, vector3d(0,0,0), 0);
// (-targpos).Normalized().Dot(targld);
// compare against target's actual heading and this ship's current velocity
// pure velocity or angular
// ok, what were the actual questions here?
// 1. whether to kill, flypast or hard evade
// - hard evade is useless except as flypast, delaying tactic, or specific laser bolt dodge
// - have dafter AIs do it anyway?
// kill if winning, basically?
// against ships with slower turn rate, might want to try to exploit that
// So what actually matters?
// 1. closer range, closing velocity => worth doing a flypast
// need fuzzy range-maintenance
// every time period, hit forward or reverse thruster or neither
// actually just use real one except only occasionally and with randomised distances
//
/*
bool AICmdKill::TimeStepUpdate()
{
// do everything in object space
matrix4x4d rot; GetRotMatrix(rot);
vector3d targpos = inst.target->GetPositionRelTo(this) * rot;
vector3d targvel = (inst.lastVel - inst.target->GetVelocity()) * inst.timeStep;
targvel = (targvel + inst.target->GetVelocityRelativeTo(this)) * rot;
// TODO: should adjust targpos for gunmount offset
// store current target velocity for next frame's accel calc
inst.lastVel = inst.target->GetVelocity();
inst.timeStep = timeStep;
int laser = Equip::types[m_equipment.Get(Equip::SLOT_LASER, 0)].tableIndex;
double projspeed = Equip::lasers[laser].speed;
vector3d leadpos = targpos + targvel*(targpos.Length()/projspeed);
leadpos = targpos + targvel*(leadpos.Length()/projspeed); // second order approx
vector3d leaddir = leadpos.Normalized();
AIFaceDirection(rot * leaddir, timeStep);
// ok, now work out evasion and range adjustment
// just generate preferred evasion and range vectors and span accordingly?
// never mind that, just consider each thruster axis individually?
// get representation of approximate angular distance
// dot product of direction and enemy heading?
// ideally use enemy angvel arc too - try to stay out of arc and away from heading
// so, need three vectors in object space
// 1. enemy position - targpos
// 2. enemy heading - take from their rot matrix, transform to obj space
// 2.5. enemy up vector, not using yet
// 3. enemy angvel - transform to obj space
matrix4x4d erot;
inst.target->GetRotMatrix(erot);
vector3d ehead = vector3d(-erot[8], -erot[9], -erot[10]) * rot;
// vector3d eup = vector3d(erot[4], erot[5], erot[6]) * rot;
vector3d eav = ((Ship *)inst.target)->GetAngVelocity() * rot;
// stupid evade: away from heading
vector3d evade1, evade2;
evade1 = (ehead * targpos.Dot(ehead)) - targpos;
// smarter evade? away from angular velocity plane
if (eav.Length() > 0.0) {
evade2 = eav.Normalized();
if (targpos.Dot(eav * targpos.Dot(eav)) > 0.0) evade2 *= -1.0;
}
else evade2 = evade1;
// only do this if on target
if (leaddir.z < -0.98)
{
if (evade1.x > 0.0) m_ship->SetThrusterState(ShipType::THRUSTER_RIGHT, 1.0);
else m_ship->SetThrusterState(ShipType::THRUSTER_LEFT, 1.0);
if (evade1.y > 0.0) m_ship->SetThrusterState(ShipType::THRUSTER_UP, 1.0);
else m_ship->SetThrusterState(ShipType::THRUSTER_DOWN, 1.0);
// basic range-maintenance?
double relspeed = -targvel.Dot(targpos.Normalized()); // positive => closing
// use maximum *deceleration*
const ShipType &stype = GetShipType();
double rearaccel = stype.linThrust[ShipType::THRUSTER_REVERSE] / GetMass();
double fwdaccel = stype.linThrust[ShipType::THRUSTER_FORWARD] / GetMass();
// v = sqrt(2as)
double idist = 500.0; // temporary
double ivel = sqrt(2.0 * rearaccel * (targpos.Length() - idist));
double vdiff = ivel - relspeed;
if (vdiff > 0.0) m_ship->SetThrusterState(ShipType::THRUSTER_FORWARD, 1.0);
else m_ship->SetThrusterState(ShipType::THRUSTER_REVERSE, 1.0);
SetGunState(0,1);
}
// Possibly don't need this because angvel never reaches zero on moving target
// and approximate target angular velocity at leaddir
// vector3d leaddir2 = (leadpos + targvel*0.01).Normalized();
// vector3d leadav = leaddir.Cross(leaddir2) * 100.0;
// does this really give a genuine angvel? Probably
// so have target heading and target angvel at that heading
// can now use modified version of FaceDirection?
// not really: direction of leaddir and leadangvel may be different
// so blend two results: thrust to reach leaddir and thrust to attain leadangvel
// bias towards leadangvel as heading approaches leaddir
return false;
}
*/
static double MaxFeatureRad(Body *body)
{
if (!body)
return 0.0;
else
return body->GetPhysRadius();
}
double MaxEffectRad(const Body *body, Propulsion *prop)
{
if (!body) return 0.0;
if (!body->IsType(ObjectType::TERRAINBODY)) {
if (!body->IsType(ObjectType::SPACESTATION)) return body->GetPhysRadius() + 1000.0;
return static_cast<const SpaceStation *>(body)->GetStationType()->ParkingDistance() + 1000.0;
}
return std::max(body->GetPhysRadius(), sqrt(G * body->GetMass() / prop->GetAccelUp()));
}
// returns acceleration due to gravity at that point
static double GetGravityAtPos(FrameId targframeId, const vector3d &posoff)
{
Frame *targframe = Frame::GetFrame(targframeId);
Body *body = targframe->GetBody();
if (!body || body->IsType(ObjectType::SPACESTATION)) return 0;
double rsqr = posoff.LengthSqr();
return G * body->GetMass() / rsqr;
// inverse is: sqrt(G * m1m2 / thrust)
}
// gets position of (target + offset in target's frame) in frame
static vector3d GetPosInFrame(FrameId frameId, FrameId targetId, const vector3d &offset)
{
Frame *target = Frame::GetFrame(targetId);
return target->GetOrientRelTo(frameId) * offset + target->GetPositionRelTo(frameId);
}
static vector3d GetVelInFrame(FrameId frameId, FrameId targetId, const vector3d &offset)
{
vector3d vel = vector3d(0.0);
Frame *target = Frame::GetFrame(targetId);
if (targetId != frameId && target->IsRotFrame()) {
// double ang = Pi::game->GetTimeStep() * target->GetAngSpeed();
// vector3d newpos = offset * matrix3x3d::RotateYMatrix(ang);
// vel = (newpos - offset) / Pi::game->GetTimeStep();
vel = -target->GetStasisVelocity(offset); // stasis velocity not accurate enough
}
return target->GetOrientRelTo(frameId) * vel + target->GetVelocityRelTo(frameId);
}
// generates from (0,0,0) to spos, in plane of target
// formula uses similar triangles
// shiptarg in ship's frame
// output in targframe
static vector3d GenerateTangent(DynamicBody *dBody, FrameId targframeId, const vector3d &shiptarg, double alt)
{
vector3d spos = dBody->GetPositionRelTo(targframeId);
vector3d targ = GetPosInFrame(targframeId, dBody->GetFrame(), shiptarg);
double a = spos.Length(), b = alt;
if (b * 1.02 > a) {
spos *= b * 1.02 / a;
a = b * 1.02;
} // fudge if ship gets under radius
double c = sqrt(a * a - b * b);
return (spos * b * b) / (a * a) + spos.Cross(targ).Cross(spos).Normalized() * b * c / a;
}
// check whether ship is at risk of colliding with frame body on current path
// return values:
//0 - no collision
//1 - below feature height
//2 - unsafe escape from effect radius
//3 - unsafe entry to effect radius
//4 - probable path intercept
int CheckCollision(DynamicBody *dBody, const vector3d &pathdir, double pathdist, double tlen, double endvel, double r)
{
Propulsion *prop = dBody->GetComponent<Propulsion>();
if (!prop) // This body doesn't have any propulsion to avoid collision
return 0;
// ship is in obstructor's frame anyway, so is tpos
if (pathdist < 100.0) return 0;
Body *body = Frame::GetFrame(dBody->GetFrame())->GetBody();
if (!body) return 0;
vector3d spos = dBody->GetPosition();
double slen = spos.Length();
double fr = MaxFeatureRad(body);
// find closest point to obstructor
double distToTangent = -spos.Dot(pathdir);
// if target inside, check if direct entry is safe
// no 30 deg aproach anymore as after FlyAround this couses overshoot
if (tlen < r) {
vector3d tangent = spos + distToTangent * pathdir;
//The target is obscured
if(distToTangent < pathdist && tangent.LengthSqr() < fr * fr) {
if (slen < fr )
return 1;
return 3;
}
//The speed checks are now done in the CheckSuicide function
return 0;
}
// if ship inside, target outside, check for max feature height and direct escape (30 degree)
if (slen < r) {
if (slen < fr)
return 1;
double af = (slen > fr) ? 0.5 * (1 - (slen - fr) / (r - fr)) : 0.5;
if (pathdir.Dot(spos) < af * slen)
return 2;
else
return 0;
}
// now for the intercept calc
if (distToTangent < 0 || distToTangent > pathdist) return 0; // closest point to obstructor outside path
vector3d sidePos = spos - pathdir * spos.Dot(pathdir);
//Check if the path goes through the obstructor effective radious
if(sidePos.LengthSqr() < r * r) return 4;
return 0;
}
// ok, need thing to step down through bodies and find closest approach
// modify targpos directly to aim short of dangerous bodies
static bool ParentSafetyAdjust(DynamicBody *dBody, FrameId targframeId, vector3d &targpos, vector3d &targvel)
{
Body *body = nullptr;
FrameId frameId = Frame::GetFrame(targframeId)->GetNonRotFrame();
Frame *frame = Frame::GetFrame(frameId);
while (frame) {
Frame *bFrame = Frame::GetFrame(dBody->GetFrame());
if (bFrame->GetNonRotFrame() == frameId) break; // ship in frame, stop
if (frame->GetBody()) body = frame->GetBody(); // ignore grav points?
double sdist = dBody->GetPositionRelTo(frameId).Length();
if (sdist < frame->GetRadius()) break; // ship inside frame, stop
// we should always be inside the root frame, so if we're not inside 'frame'
// then it must not be the root frame (ie, it must have a parent)
Frame *parent = Frame::GetFrame(frame->GetParent());
assert(parent);
frameId = parent->GetNonRotFrame();
frame = Frame::GetFrame(frameId); // check next frame down
}
if (!body) return false;
// aim for zero velocity at surface of that body
// still along path to target
Propulsion *prop = dBody->GetComponent<Propulsion>();
if (prop == nullptr) return false;
vector3d targpos2 = targpos - dBody->GetPosition();
double targdist = targpos2.Length();
double bodydist = body->GetPositionRelTo(dBody).Length() - MaxEffectRad(body, prop) * 1.5;
if (targdist < bodydist) return false;
targpos -= (targdist - bodydist) * targpos2 / targdist;
targvel = body->GetVelocityRelTo(dBody->GetFrame());
return true;
}
// check for collision course with frame body
//#define DEBUG_CHECK_SUICIDE
static bool CheckSuicide(DynamicBody *dBody, const vector3d &obspos, double obsMass, double safeAlt, double targetAlt, bool recovering)
{
if (!dBody->HasComponent<Propulsion>()) return false;
Propulsion *prop = dBody->GetComponent<Propulsion>();
assert(prop != nullptr);
double obsDist = obspos.Length();
//sanity check
if(obsDist > 100 * safeAlt)
return false;
vector3d velDir = dBody->GetVelocity().NormalizedSafe();
double tangDist = obspos.Dot(velDir);
//ship passed the planet
if(tangDist < 0) return false;
double tangLenSqr = (obspos - velDir * tangDist).LengthSqr();
//or pitched speed vector above the safty horizon
if(tangLenSqr > safeAlt * safeAlt) return false;
//Ignore speed check -> continue the recovery until speed vector is over horizon
if(recovering) return true;
//below are more strict speed conditions to enter the recovery
//for final apreach the targetAlt must be used for safe speed check
double zeroSpeedAlt = std::min(safeAlt, targetAlt);
if(zeroSpeedAlt*zeroSpeedAlt < tangLenSqr) return false;
//distance to point of pircing of planet surface or sefe alt sphere by speed vector
double breakingDist = tangDist - sqrt(zeroSpeedAlt*zeroSpeedAlt - tangLenSqr);
#ifdef DEBUG_CHECK_SUICIDE
if (dBody->IsType(ObjectType::PLAYER)) {
std::cout << "CheckSuicide breakingDist=" << breakingDist << std::endl;
std::cout << "Speed Check v^2 vs maxV^2: " << dBody->GetVelocity().LengthSqr() << "\t"
<< 2*(prop->GetAccelFwd()*breakingDist - G*obsMass*(obsDist-zeroSpeedAlt)/(obsDist*zeroSpeedAlt)) << std::endl;
}
#endif
//Energy equation with planet gravity taken into account
if (breakingDist > 100
&& dBody->GetVelocity().LengthSqr() > 2*(prop->GetAccelFwd()*breakingDist - G*obsMass*(obsDist-zeroSpeedAlt)/(obsDist*zeroSpeedAlt)))
return true;
return false;
}
extern double calc_ivel(double dist, double vel, double acc);
void AICmdFlyTo::OnDeleted(const Body *body)
{
AICommand::OnDeleted(body);
if (m_target == body) m_target = 0;
}
void AICmdFlyTo::GetStatusText(char *str)
{
if (m_child)
m_child->GetStatusText(str);
else if (m_target)
snprintf(str, 255, "Intercept: %s, dist %.1fkm, state %i",
m_target->GetLabel().c_str(), m_dist, m_state);
else
snprintf(str, 255, "FlyTo: %s, dist %.1fkm, endvel %.1fkm/s, state %i",
Frame::GetFrame(m_targframeId)->GetLabel().c_str(), m_posoff.Length() / 1000.0, m_endvel / 1000.0, m_state);
}
void AICmdFlyTo::PostLoadFixup(Space *space)
{
AICommand::PostLoadFixup(space);
m_target = space->GetBodyByIndex(m_targetIndex);
m_frameId = m_target ? m_target->GetFrame() : FrameId();
// Ensure needed sub-system:
m_prop = m_dBody->GetComponent<Propulsion>();
assert(m_prop != nullptr);
}
// Fly to vicinity of body
AICmdFlyTo::AICmdFlyTo(DynamicBody *dBody, Body *target) :
AICommand(dBody, CMD_FLYTO)
{
m_prop = dBody->GetComponent<Propulsion>();
assert(m_prop != nullptr);
m_frameId = FrameId::Invalid;
m_state = -6;
m_endvel = 0;
m_tangent = false;
m_is_flyto = true;
m_suicideRecovery = false;
if (!target->IsType(ObjectType::TERRAINBODY))
m_dist = VICINITY_MIN;
else
m_dist = VICINITY_MUL * MaxEffectRad(target, m_prop);
if (target->IsType(ObjectType::SPACESTATION) && static_cast<SpaceStation *>(target)->IsGroundStation()) {
m_posoff = target->GetPosition() + VICINITY_MIN * target->GetOrient().VectorY();
// m_posoff += 500.0 * target->GetOrient().VectorX();
m_targframeId = target->GetFrame();
m_target = nullptr;
} else {
m_target = target;
m_targframeId = FrameId::Invalid;
}
if (dBody->GetPositionRelTo(target).Length() <= VICINITY_MIN) m_targframeId = FrameId::Invalid;
}
// Specified pos, endvel should be > 0
AICmdFlyTo::AICmdFlyTo(DynamicBody *dBody, FrameId targframe, const vector3d &posoff, double endvel, bool tangent) :
AICommand(dBody, CMD_FLYTO),
m_target(nullptr),
m_targframeId(targframe),
m_posoff(posoff),
m_endvel(endvel),
m_tangent(tangent),
m_state(-6),
m_frameId(FrameId::Invalid),
m_suicideRecovery(false)
{
m_prop = dBody->GetComponent<Propulsion>();
assert(m_prop != nullptr);
}
AICmdFlyTo::AICmdFlyTo(const Json &jsonObj) :
AICommand(jsonObj, CMD_FLYTO)
{
try {
m_targetIndex = jsonObj["index_for_target"];
m_dist = jsonObj["dist"];
m_targframeId = jsonObj["target_frame"];
m_posoff = jsonObj["pos_off"];
m_endvel = jsonObj["end_vel"];
m_tangent = jsonObj["tangent"];
m_state = jsonObj["state"];
if(jsonObj.find("suicide_recovery") != jsonObj.end())
m_suicideRecovery = jsonObj["suicide_recovery"];
else
m_suicideRecovery = false;
} catch (Json::type_error &) {
throw SavedGameCorruptException();
}
}
void AICmdFlyTo::SaveToJson(Json &jsonObj)
{
if (m_child) {
m_child.reset();
}
Json aiCommandObj({}); // Create JSON object to contain ai command data.
AICommand::SaveToJson(aiCommandObj);
aiCommandObj["index_for_target"] = Pi::game->GetSpace()->GetIndexForBody(m_target);
aiCommandObj["dist"] = m_dist;
aiCommandObj["target_frame"] = m_targframeId;
aiCommandObj["pos_off"] = m_posoff;
aiCommandObj["end_vel"] = m_endvel;
aiCommandObj["tangent"] = m_tangent;
aiCommandObj["state"] = m_state;
aiCommandObj["suicide_recovery"] = m_suicideRecovery;
jsonObj["ai_command"] = aiCommandObj; // Add ai command object to supplied object.
}