[Add] More basic AI functions.

[Change] Split AI into it's own unit.
[Note] Space battles are fun!

src/Makefile.am

@@ -20,7 +20,7 @@ Lephisto3D_SOURCES	= main.cpp glfreetype.cpp body.cpp space.cpp ship.cpp player.
 											star.cpp frame.cpp ship_cpanel.cpp sector_view.cpp mtrand.cpp world_view.cpp system_view.cpp \
 											star_system.cpp sector.cpp system_info_view.cpp generic_system_view.cpp date.cpp space_station.cpp \
 											space_station_view.cpp model_body.cpp ship_type.cpp info_view.cpp model_coll_mesh_data.cpp \
-											object_viewer_view.cpp custom_starsystems.cpp serializer.cpp sfx.cpp
+											object_viewer_view.cpp custom_starsystems.cpp serializer.cpp sfx.cpp ship_ai.cpp
 Lephisto3D_LDADD = sbre/libsbre.a collider/libcollider.a libgui.a
 
 ModelViewer_SOURCES = sbre_viewer.cpp glfreetype.cpp

src/body.h

@@ -19,7 +19,7 @@ public:
   virtual void SetPosition(vector3d p) = 0;
   virtual vector3d GetPosition(void) const = 0; /* Within frame. */
   virtual void SetVelocity(vector3d v) { assert(0); }
-  virtual vector3d GetVelocity(void) { assert(0); return vector3d(0.0); }
+  virtual vector3d GetVelocity(void) const { assert(0); return vector3d(0.0); }
   virtual double GetRadius(void) const = 0 ;
   virtual double GetMass(void)   const { assert(0); return 0; }
   virtual void SetRotMatrix(const matrix4x4d& r) {};

src/dynamic_body.cpp

@@ -148,7 +148,7 @@ void DynamicBody::SetRotMatrix(const matrix4x4d& r) {
   SetPosition(pos);
 }
 
-void DynamicBody::GetRotMatrix(matrix4x4d& m) {
+void DynamicBody::GetRotMatrix(matrix4x4d& m) const{ 
   m = m_orient;
   m[12] = 0;
   m[13] = 0;
@@ -175,7 +175,7 @@ void DynamicBody::SetMassDistributionFromCollMesh(const CollMesh* m) {
   SetMass(m_mass);
 }
 
-vector3d DynamicBody::GetAngularMomentum(void) {
+vector3d DynamicBody::GetAngularMomentum(void) const {
   return m_angInertia * m_angVel;
 }
 
@@ -183,11 +183,11 @@ DynamicBody::~DynamicBody(void) {
 
 }
 
-vector3d DynamicBody::GetAngVelocity(void) {
+vector3d DynamicBody::GetAngVelocity(void) const {
   return m_angVel;
 }
 
-vector3d DynamicBody::GetVelocity(void) {
+vector3d DynamicBody::GetVelocity(void) const {
   return m_vel;
 }
 

src/dynamic_body.h

@@ -10,20 +10,20 @@ public:
   DynamicBody(void);
   virtual ~DynamicBody(void);
   virtual void SetRotMatrix(const matrix4x4d& r);
-  virtual void GetRotMatrix(matrix4x4d& m);
+  virtual void GetRotMatrix(matrix4x4d& m) const;
   virtual void SetVelocity(vector3d v);
   virtual void SetPosition(vector3d p);
   virtual vector3d GetPosition(void) const;
-  virtual vector3d GetVelocity(void);
+  virtual vector3d GetVelocity(void) const;
-  vector3d GetAngVelocity(void);
+  vector3d GetAngVelocity(void) const;
   void SetAngVelocity(vector3d v);
   void SetMesh(ObjMesh* m);
   virtual bool OnCollision(Body* b, Uint32 flags) { return true; }
-  vector3d GetAngularMomentum(void);
+  vector3d GetAngularMomentum(void) const;
   double GetAngularInertia(void) const { return m_angInertia; }
   void SetMassDistributionFromCollMesh(const CollMesh* m);
   void DisableBodyOnly(void) { m_enabled = false; }
-  bool IsEnabled(void) { return m_enabled; }
+  bool IsEnabled(void) const { return m_enabled; }
   virtual void Disable(void);
   virtual void Enable(void);
   virtual double GetMass(void) const { return m_mass; }

src/ship.cpp

@@ -192,7 +192,7 @@ vector3d Ship::CalcRotDamping(void) {
 }
 
 void Ship::SetThrusterState(enum ShipType::Thruster t, float level) {
-  m_thrusters[t] = level;
+  m_thrusters[t] = CLAMP(level, 0.0, 1.0);
 }
 
 void Ship::ClearThrusterState(void) {
@@ -325,7 +325,7 @@ void Ship::TimeStepUpdate(const float timeStep) {
 
   const ShipType& stype = GetShipType();
   for(int i = 0; i < ShipType::THRUSTER_MAX; i++) {
-    float force = timeStep * stype.linThrust[i] * m_thrusters[i];
+    float force = stype.linThrust[i]*m_thrusters[i];
     switch(i) {
     case ShipType::THRUSTER_REAR:
     case ShipType::THRUSTER_FRONT:
@@ -373,38 +373,6 @@ void Ship::TimeStepUpdate(const float timeStep) {
   if(m_testLanded) TestLanded();
 }
 
-void Ship::AITimeStep(const float timeStep) {
-  bool done = false;
-
-  if(m_todo.size() != 0) {
-    AIInstruction& inst = m_todo.front();
-    switch(inst.cmd) {
-      case DO_KILL:
-        done = AICmdKill(static_cast<const Ship*>(inst.arg));
-        break;
-      case DO_NOTHING: done = true; break;
-    }
-  }
-  if(done) {
-    printf("AI '%s' succesfully executed %d:'%s'\n", GetLabel().c_str(), m_todo.front().cmd,
-        static_cast<Ship*>(m_todo.front().arg)->GetLabel().c_str());
-    m_todo.pop_front();
-  }
-}
-
-bool Ship::AICmdKill(const Ship* enemy) {
-  /* Needs to deal with frames, large distances, and success. */
-  if(GetFrame() == enemy->GetFrame()) {
-    vector3d dir = vector3d::Normalize(enemy->GetPosition() - GetPosition());
-    AIFaceDirection(dir);
-  }
-  return false;
-}
-
-void Ship::AIInstruct(enum AICommand cmd, void* arg) {
-  m_todo.push_back(AIInstruction(cmd, arg));
-}
-
 void Ship::NotifyDeath(const Body* const dyingBody) {
   if(GetNavTarget() == dyingBody)
     SetNavTarget(0);
@@ -455,28 +423,6 @@ void Ship::SetCombatTarget(Body* const target) {
   L3D::worldView->UpdateCommsOptions();
 }
 
-/* Orient so our -ve z axis == dir. ie.. So that direction points forwards. */
-void Ship::AIFaceDirection(const vector3d& dir) {
-  matrix4x4d rot;
-  GetRotMatrix(rot);
-  rot = rot.InverseOf();
-  const vector3d zaxis = vector3d(-rot[2], -rot[6], -rot[10]);
-  vector3d rotaxis = vector3d::Cross(zaxis, dir);
-  const float dot = vector3d::Dot(dir, zaxis);
-  /* If facing > 90 degrees away then max turn rate.. */
-  if(dot < 0) rotaxis.Normalize();
-  rotaxis = rot*rotaxis;
-  ClearThrusterState();
-  /* We still must apply rotation damping. */
-  rotaxis -= CalcRotDamping();
-  SetAngThrusterState(0, rotaxis.x);
-  SetAngThrusterState(1, rotaxis.y);
-  SetAngThrusterState(2, rotaxis.z);
-  if(dot > 0) SetThrusterState(ShipType::THRUSTER_REAR, 1.0);
-  if(dot > 0.95f) SetGunState(0,1);
-  else SetGunState(0,0);
-}
-
 bool Ship::IsFiringLasers(void) {
   for(int i = 0; i < ShipType::GUNMOUNT_MAX; i++) {
     if(m_gunState[i]) return true;

src/ship.h

@@ -48,6 +48,8 @@ public:
   FlightState GetFlightState(void) const { return m_flightState; }
   float GetWheelState(void) const { return m_wheelState; }
   void AIFaceDirection(const vector3d& dir);
+  void AIAccelToModelRelativeVelocity(const vector3d v);
+  void AIModelCoordsMatchSpeedRelTo(const vector3d v, const Ship*);
 
   EquipSet m_equipment;
 

src/ship_ai.cpp

@@ -0,0 +1,145 @@
+#include "libs.h"
+#include "ship.h"
+#include "l3d.h"
+
+void Ship::AITimeStep(const float timeStep) {
+  bool done = false;
+
+  if(m_todo.size() != 0) {
+    AIInstruction& inst = m_todo.front();
+    switch(inst.cmd) {
+      case DO_KILL:
+        done = AICmdKill(static_cast<const Ship*>(inst.arg));
+        break;
+      case DO_NOTHING: done = true; break;
+    }
+  }
+  if(done) {
+    printf("AI '%s' successfullyexecuted %d:'%s'\n", GetLabel().c_str(), m_todo.front().cmd,
+        static_cast<Ship*>(m_todo.front().arg)->GetLabel().c_str());
+    m_todo.pop_front();
+  }
+}
+
+bool Ship::AICmdKill(const Ship* enemy) {
+  SetGunState(0,0);
+  /* Needs to deal with frames, large distances and success. */
+  if(GetFrame() == enemy->GetFrame()) {
+    const float dist = (enemy->GetPosition() - GetPosition()).Length();
+    vector3d dir = vector3d::Normalize(enemy->GetPosition() - GetPosition());
+    if(dist > 500.0) {
+      AIFaceDirection(dir);
+      /* Thunder at player at 400m/sec. */
+      AIModelCoordsMatchSpeedRelTo(vector3d(0,0,-400), enemy);
+      /* Fire guns if aiming good enough. */
+      matrix4x4d rot;
+      GetRotMatrix(rot);
+      const vector3d zaxis = vector3d(-rot[8], -rot[9], -rot[10]);
+      const float dot = vector3d::Dot(dir, vector3d(-rot[8], -rot[9], -rot[10]));
+      if(dot > 0.95f) SetGunState(0,1);
+    } else {
+      /* If we are too close, turn away! */
+      AIFaceDirection(-dir);
+      AIModelCoordsMatchSpeedRelTo(vector3d(0,0,-1000), enemy);
+    }
+  }
+  return false;
+}
+
+void Ship::AIInstruct(enum AICommand cmd, void* arg) {
+  m_todo.push_back(AIInstruction(cmd, arg));
+}
+
+/* Orient so our -ve z axis == dir. ie.. So that direction points forwards. */
+void Ship::AIFaceDirection(const vector3d& dir) {
+  matrix4x4d rot;
+  GetRotMatrix(rot);
+  rot = rot.InverseOf();
+  const vector3d zaxis = vector3d(-rot[2], -rot[6], -rot[10]);
+  vector3d rotaxis = vector3d::Cross(zaxis, dir);
+  vector3d angVel = rot*GetAngVelocity();
+  const float dot = vector3d::Dot(dir, zaxis);
+  /* If facing > 90 degrees away then max turn rate. */
+  if(dot < 0) rotaxis.Normalize();
+  rotaxis = rot*rotaxis;
+  vector3d desiredAngVelChange = 4*(rotaxis - angVel);
+  ClearThrusterState();
+  /* We still must apply rotation damping. */
+  rotaxis -= CalcRotDamping();
+  SetAngThrusterState(0, desiredAngVelChange.x);
+  SetAngThrusterState(1, desiredAngVelChange.y);
+  SetAngThrusterState(2, desiredAngVelChange.z);
+}
+
+void Ship::AIModelCoordsMatchSpeedRelTo(const vector3d v, const Ship* other) {
+  matrix4x4d m; GetRotMatrix(m);
+  vector3d relToVel = m.InverseOf() * other->GetVelocity() + v;
+  AIAccelToModelRelativeVelocity(relToVel);
+}
+
+/*
+ * Try to reach this model-relative velocity.
+ * (0,0,-100) would mean going 100m/s forward.
+ */
+void Ship::AIAccelToModelRelativeVelocity(const vector3d v) {
+  const ShipType& stype = GetShipType();
+  
+  vector3d relVel = GetVelocity(); // - enemy->GetVelocity();
+  matrix4x4d m; GetRotMatrix(m);
+  relVel = m.InverseOf() * relVel;
+
+  vector3d difVel = v - relVel;
+  /* We want to change velocity by difVel.. */
+  //SetVelocty(m*(relVel+difVel));
+  const float invMass = 1.0 / GetMass();
+
+  if(difVel.x > 0) {
+    /* Figure out biggest accel can get, and then what we need this timestep. */
+    float velChange = L3D::GetTimeStep() * stype.linThrust[ShipType::THRUSTER_RIGHT] * invMass;
+    float thrust;
+    if(velChange < difVel.x) thrust = 1.0;
+    else thrust = difVel.x / velChange;
+    thrust *= thrust; /* This is just to hide control jiggle. */
+    SetThrusterState(ShipType::THRUSTER_RIGHT, thrust);
+  } else {
+    float velChange = L3D::GetTimeStep() * stype.linThrust[ShipType::THRUSTER_LEFT] * invMass;
+    float thrust;
+    if(velChange > difVel.x) thrust = 1.0;
+    else thrust = difVel.x / velChange;
+    thrust *= thrust;
+    SetThrusterState(ShipType::THRUSTER_LEFT, thrust);
+  }
+
+  if(difVel.y > 0) {
+    float velChange = L3D::GetTimeStep() * stype.linThrust[ShipType::THRUSTER_TOP] * invMass;
+    float thrust;
+    if(velChange < difVel.y) thrust = 1.0;
+    else thrust = difVel.y / velChange;
+    thrust *= thrust;
+    SetThrusterState(ShipType::THRUSTER_TOP, thrust);
+  } else {
+    float velChange = L3D::GetTimeStep() * stype.linThrust[ShipType::THRUSTER_BOTTOM] * invMass;
+    float thrust;
+    if(velChange > difVel.y) thrust = 1.0;
+    else thrust = difVel.y / velChange;
+    thrust *= thrust;
+    SetThrusterState(ShipType::THRUSTER_BOTTOM, thrust);
+  }
+
+  if(difVel.z > 0) {
+    float velChange = L3D::GetTimeStep() * stype.linThrust[ShipType::THRUSTER_FRONT] * invMass;
+    float thrust;
+    if(velChange < difVel.z) thrust = 1.0;
+    else thrust = difVel.z / velChange;
+    thrust *= thrust;
+    SetThrusterState(ShipType::THRUSTER_FRONT, thrust);
+  } else {
+    float velChange = L3D::GetTimeStep() * stype.linThrust[ShipType::THRUSTER_REAR] * invMass;
+    float thrust;
+    if(velChange > difVel.z) thrust = 1.0;
+    else thrust = difVel.z / velChange;
+    thrust *= thrust;
+    SetThrusterState(ShipType::THRUSTER_REAR, thrust);
+  }
+}
+

src/ship_type.cpp

@@ -7,7 +7,7 @@ const ShipType ShipType::types[] = {
      * Sirius corporation make a range of lovely ships!
      */
     "Sirius Interdictor", 61,
-    { 4e8, -4e8, 1e8, -1e8, -1e8, 1e8 },
+    { 4e6, -4e6, 1e6, -1e6, -1e6, 1e6 },
     1e7,
     {
       { vector3f(0, -0.5, 0), vector3f(0, 0, -1) },
@@ -22,7 +22,7 @@ const ShipType ShipType::types[] = {
      */
     "Ladybird Starfighter",
     62,
-    { 1e8, -1e8, 1e8, -1e8, -1e8, 1e8 },
+    { 1e6, -1e6, 1e6, -1e6, -1e6, 1e6 },
     1e7,
     {
       { vector3f(0, -0.5, 0), vector3f(0, 0, -1) },
@@ -34,7 +34,7 @@ const ShipType ShipType::types[] = {
   {
     "Flowerfairy Heavy Trader",
     63,
-    { 1e7, -1e7, 1e6, -1e6, -1e6, 1e6 },
+    { 1e6, -1e6, 1e6, -1e6, -1e6, 1e6 },
     1e7,
     {
       { vector3f(0, -0.5, 0), vector3f(0, 0, -1) },