Lephisto/src/ai.c

// Woot, LUA!!!!!!
#include <lua.h>
#include <lauxlib.h>
#include <lualib.h>

#include <math.h>

#include "main.h"
#include "log.h"
#include "pilot.h"
#include "player.h"
#include "physics.h"
#include "pack.h"
#include "rng.h"
#include "ai.h"

// == AI ======================================================
//
// -- Goal (Task) based AI with additional optimization.
// AI uses the goal (task) based AI approach with tasks scripted
// in lua. Additionally there is a task that is hardcoded and
// obligatory in any AI script. The 'control' task, whose only
// purpose is to assign tasks if there is none, and optimize
// or change tasks if there are.
//
// Eg.. Pilot A is attacking Pilot B. Pilot C then comes along
// the same system and is of the same faction as Pilot B. and
// therefor attacks Pilot A. Pilot A would keep fighting pilot
// B and until the control task comes in. Then the pilot could
// run if it deems fit that Pilot C and Pilot B together are
// both too strong for A. Or.. Attack C as it is an easy target
// to finish. 
// Basically, there is many possibilities, and it's down to the
// Lua fanatics to decide what to do.
//
// -- AI will follow basic tasks defined from Lua AI scripts.
//  -- If task is NULL, AI will run "control" task.
//  -- Task is continued every frame.
//  -- "control" task is a special task that *must* exist in
//      any given Pilot AI (missiles, and suck will use "seek".
//    -- "control" task is not permanent, but transitory.
//    -- "control" task sets another task.
//  -- "control" task is also run at a set rate (depending on
//      Lua global "control_rate") to choose optimal behaviour
//      (task).
// ============================================================

// Call the AI function with name f.
#define AI_LCALL(f) (lua_getglobal(L, f), lua_pcall(L, 0, 0, 0))

// Don't run the function if (n) params aren't passed.
#define MIN_ARGS(n) if(lua_gettop(L) < n) return 0

#define MAX_DIR_ERR 5.0*M_PI/180.
#define MIN_VEL_ERR 2.5

static int ai_minbrakedist(lua_State* L); // Minimal breaking distance.
static int ai_accel(lua_State* L); // Accelerate.

// Internal C routines.
static void ai_freetask(Task* t);
// Ai routines for Lua.
// Tasks.
static int ai_pushtask(lua_State* L);     // pushtask(string, number/pointer, number)
static int ai_poptask(lua_State* L);      // poptask()
static int ai_taskname(lua_State* L);     // Number taskname.
// Consult values.
static int ai_gettarget(lua_State* L);    // Pointer gettarget()
static int ai_gettargetid(lua_State* L);  // Number gettargetis()
static int ai_getdistance(lua_State* L);  // Number getdist(Vec2)
static int ai_getpos(lua_State* L);       // getpos(number/pilot)
static int ai_minbrakedist(lua_State* L); // Number minbrakedist()
// Boolean expressions.
static int ai_ismaxvel(lua_State* L);     // Boolean ismaxvel()
static int ai_isstopped(lua_State* L);    // Boolean isstopped()
static int ai_isenemy(lua_State* L);      // bool isenemy(pointer).
static int ai_isally(lua_State* L);       // bool isally(pointer).
// Movement.
static int ai_accel(lua_State* L);        // accel(number); nuimber <= 1.
static int ai_turn(lua_State* L);         // turn(number); abs(number) <= 1.
static int ai_face(lua_State* L);         // face(number/pointer)
static int ai_brake(lua_State* L);        // Brake()
// Combat.
static int ai_shoot(lua_State* L);        // shoot(number) number = 1,2,3.
static int ai_getenemy(lua_State* L);     // pointer getenemy().
// Misc.
static int ai_createvect(lua_State* L);   // createvect(number, number)
static int ai_say(lua_State* L);          // say(string)
static int ai_rng(lua_State* L);          // rng(number, number)

// Global Lua interpreter.
static lua_State* L = NULL;

// Current pilot "thinking" and assorted variables.
static Pilot* cur_pilot     = NULL;
static double pilot_acc     = 0.;
static double pilot_turn    = 0.;
static int    pilot_primary = 0;

// Destroy the AI part of the pilot.
void ai_destroy(Pilot* p) {
  if(p->task)
    ai_freetask(p->task);
}

// Init the AI stuff. Which is basically Lua.
int ai_init(void) {
  L = luaL_newstate();
  if(L == NULL) {
    ERR("Unable to create a new Lua state");
    return -1;
  }

  // Open the standard Lua libraries.
  luaL_openlibs(L);

  // Register C funstions in Lua.
  // Tasks.
  lua_register(L, "pushtask",     ai_pushtask);
  lua_register(L, "poptask",      ai_poptask);
  lua_register(L, "taskname",     ai_taskname);
  // Consult.
  lua_register(L, "gettarget",    ai_gettarget);
  lua_register(L, "gettargetid",  ai_gettargetid);
  lua_register(L, "getdist",      ai_getdistance);
  lua_register(L, "getpos",       ai_getpos);
  lua_register(L, "minbrakedist", ai_minbrakedist);
  // Boolean.
  lua_register(L, "ismaxvel",     ai_ismaxvel);
  lua_register(L, "isstopped",    ai_isstopped);
  lua_register(L, "isenemy",      ai_isenemy);
  lua_register(L, "isally",     ai_isally);
  // Movement.
  lua_register(L, "accel",        ai_accel);
  lua_register(L, "turn",         ai_turn);
  lua_register(L, "face",         ai_face);
  lua_register(L, "brake",        ai_brake);
  // Combat.
  lua_register(L, "shoot",        ai_shoot);
  lua_register(L, "getenemy",     ai_getenemy);
  // Misc.
  lua_register(L, "createvect",   ai_createvect);
  lua_register(L, "say",          ai_say);
  lua_register(L, "rng",          ai_rng);

  char* buf = pack_readfile(DATA, "../scripts/ai/test.lua", NULL);

  if(luaL_dostring(L, buf) != 0) {
    ERR("loading AI file: %s", "../scripts/ai/test.lua");
    WARN("Most likely Lua file has improper syntax, please check it.");
    return -1;
  }

  free(buf);

  return 0;
}

// Clean up global AI
void ai_exit(void) {
  lua_close(L);
}

// Heart of hearts of the ai!! Brains of the pilot.
void ai_think(Pilot* pilot) {
  cur_pilot = pilot; // Set current pilot being processed.
  pilot_acc = pilot_turn = 0.; // Clean up some variables.
  if(cur_pilot->task == NULL)
    // Idle git!
    AI_LCALL("control");
  else
    // Pilot has a currently running task.
    AI_LCALL(cur_pilot->task->name);

  // Make sure pilot_acc and pilot_turn are legal moves.
  if(pilot_acc > 1.) pilot_acc = 1.;    // Value must be <= 1.
  if(pilot_turn > 1.) pilot_turn = 1.;  // Value must be between -1 and 1.
  else if(pilot_turn < -1.) pilot_turn = -1.;

  cur_pilot->solid->dir_vel = 0.;
  if(pilot_turn) // Set the turning velocity.
    cur_pilot->solid->dir_vel -= cur_pilot->ship->turn * pilot_turn;
  vect_pset(&cur_pilot->solid->force, cur_pilot->ship->thrust * pilot_acc, cur_pilot->solid->dir);

  if(pilot_primary) pilot_shoot(pilot, 0); // AMG, he's gunna shoot!
}

// =====================
// INTERNAL C FUNCTIONS.
// =====================

// Free the task.
static void ai_freetask(Task* t) {
  if(t->next) ai_freetask(t->next); // Woot, recursive freeing!

  if(t->name)    free(t->name);
  if(t->target) free(t->target);
  free(t);
}

// ========================================================
// C functions to call from Lua.
// ========================================================

// Push the current stack.
static int ai_pushtask(lua_State* L) {
  int pos;
  if(lua_isnumber(L, 1)) pos = (int) lua_tonumber(L, 1);
  else return 0; // Invalid param.

  Task* t = MALLOC_L(Task);
  t->name = (lua_isstring(L, 2)) ? strdup((char*) lua_tostring(L, 2)) : NULL;
  t->next = NULL;
  t->target = NULL;

  if(lua_gettop(L) > 2) {
    if(lua_isnumber(L, 3)) {
      t->dtype = TYPE_INT;
      t->ID = (unsigned int) lua_tonumber(L, 3);
    }
    else if(lua_islightuserdata(L, 3)) {
      t-dtype = TYPE_PTR;
      t->target = (void*)lua_topointer(L, 3);
    } else
      t->dtype = TYPE_NULL;
  }

  if(cur_pilot->task == NULL) // No other tasks.
    cur_pilot->task = t;
  else if(pos == 1) {
    // Put at the end.
    Task* pointer;
    for(pointer = cur_pilot->task; pointer->next; pointer = pointer->next);
    pointer->next = t;
  } else {
    // Default put at the beginning.
    t->next = cur_pilot->task;
    cur_pilot->task = t;
  }
  return 0;
}

// Pop the current task.
static int ai_poptask(lua_State* L) {
  (void)L; // Just a hack to avoid -W -Wall warnings.
  Task* t = cur_pilot->task;
  cur_pilot->task = t->next;
  t->next = NULL;
  ai_freetask(t);
  return 0;
}

// Grab the current tasks name.
static int ai_taskname(lua_State* L) {
  if(cur_pilot->task) lua_pushstring(L, cur_pilot->task->name);
  else lua_pushnil(L);
  return 1;
}

// Grab the target pointer.
static int ai_gettarget(lua_State* L) {
  if(cur_pilot->task->dtype == TYPE_PTR) {
    lua_pushlightuserdata(L, cur_pilot->task->target);
    return 1;
  }
  return 0;
}

// Get the ID.
static int ai_gettargetid(lua_State* L) {
  if(cur_pilot->task->dtype == TYPE_INT) {
    lua_pushnumber(L, cur_pilot->task->ID);
    return 1;
  }
  return 0;
}

// Get the distance from the pointer.
static int ai_getdistance(lua_State* L) {
  MIN_ARGS(1);
  Vec2* vect = (Vec2*)lua_topointer(L,1);
  lua_pushnumber(L, DIST(*vect, cur_pilot->solid->pos));
  return 1;
}

// Get the pilots position.
static int ai_getpos(lua_State* L) {
  Pilot* p;
  if(lua_isnumber(L, 1)) p = pilot_get((int)lua_tonumber(L,1)); // Pilot ID.
  else if(lua_islightuserdata(L, 1)) p = (Pilot*)lua_topointer(L, 1); // Pilot pointer.
  else p = cur_pilot; // Default to ones self.

  lua_pushlightuserdata(L, &p->solid->pos);

  return 1;
}

// ========================================================
// Get the minimum braking distance.
// 
// Braking vel ==> 0 = v - a*dt
// Add turn around time (to initial velocity) :
// ==> 180.*360./cur_pilot->ship->turn
// Add it to general euler equation x = v*t + 0.5 * a * t^2
// Have fun.
// ========================================================
static int ai_minbrakedist(lua_State* L) {
  double time = VMOD(cur_pilot->solid->vel) /
        (cur_pilot->ship->thrust / cur_pilot->solid->mass);

  double dist = VMOD(cur_pilot->solid->vel) * (time + cur_pilot->ship->turn/360.) -
        0.5 * (cur_pilot->ship->thrust / cur_pilot->solid->mass)*time*time;

  lua_pushnumber(L, dist); // return
  return 1;
}

// Are we at max velocity?
static int ai_ismaxvel(lua_State* L) {
  lua_pushboolean(L, VMOD(cur_pilot->solid->vel) == cur_pilot->ship->speed);
  return 1;
}

// Have we stopped?
static int ai_isstopped(lua_State* L) {
  lua_pushboolean(L, VMOD(cur_pilot->solid->vel) < MIN_VEL_ERR);
  return 1;
}

// Check if the pilot is an enemy.
static int ai_isenemy(lua_State* L) {
  return 1;
}

// Check if the pilot is an ally.
static int ai_isally(lua_State* L) {
  return 1;
}

// Accelerate the pilot based on a param.
static int ai_accel(lua_State* L) {
  pilot_acc = (lua_gettop(L) > 1 && lua_isnumber(L, 1)) ? ABS((double)lua_tonumber(L, 1)) : 1.;
  return 0;
}

// Turn the pilot based on a param.
static int ai_turn(lua_State* L) {
  MIN_ARGS(1);
  pilot_turn = (lua_isnumber(L, 1)) ? (double)lua_tonumber(L, 1) : 0.;
  return 0;
}

// Face the target.
static int ai_face(lua_State* L) {
  MIN_ARGS(1);
  Vec2* v; // Grab the position to face.
  if(lua_isnumber(L,1)) v = &pilot_get((unsigned int)lua_tonumber(L,1))->solid->pos;
  else if(lua_islightuserdata(L,1)) v = (Vec2*)lua_topointer(L,1);

  double mod = -10;
  if(lua_gettop(L) > 1 && lua_isnumber(L,2))
    switch((int)lua_tonumber(L,2)) {
      case 0: break;
      case 1: mod *= -1; break;
      case 2: break;
    }
  double diff = angle_diff(cur_pilot->solid->dir, vect_angle(&cur_pilot->solid->pos, v));
  
  pilot_turn = mod*diff;

  lua_pushnumber(L, ABS(diff*180./M_PI));

  return 1;
}

// This is generally good for coming to a halt.
static int ai_brake(lua_State* L) {
  (void)L; // Just a hack to avoid -W -Wall warnings.
  double diff = angle_diff(cur_pilot->solid->dir, VANGLE(cur_pilot->solid->vel));
  pilot_turn = 10*diff;
  if(diff < MAX_DIR_ERR && VMOD(cur_pilot->solid->vel) > MIN_VEL_ERR)
    pilot_acc = 1.;
  return 0;
}

// Pew pew.. Says the pilot.
static int ai_shoot(lua_State* L) {
  int n = 1;
  if(lua_isnumber(L, 1)) n = (int)lua_tonumber(L,1);

  if(n == 1) pilot_primary = 1;
  //else if(n == 2) pilot_secondary = 1;
  //else if(n == 3) pilot_primary = pilot_secondary = 1;

  return 0;
}

// Get the nearest enemy.
static int ai_getenemy(lua_State* L) {
  return 0;
}

// Create a vector.
static int ai_createvect(lua_State* L) {
  MIN_ARGS(2);
  Vec2* v = MALLOC_L(Vec2);
  double x = (lua_isnumber(L, 1)) ? (double)lua_tonumber(L,1) : 0.;
  double y = (lua_isnumber(L, 2)) ? (double)lua_tonumber(L,2) : 0.;

  vect_cset(v, x, y);

  lua_pushlightuserdata(L, (void*)v);
  return 1;
}

// Have the pilot say something to player.
static int ai_say(lua_State* L) {
  MIN_ARGS(1);

  if(lua_isstring(L, 1))
    player_message("Comm %s> \"%s\"", cur_pilot->name, lua_tostring(L, 1));

  return 0;
}

// Return a number between low and high.
static int ai_rng(lua_State* L) {
  MIN_ARGS(2);

  int l, h;

  if(lua_isnumber(L,1)) l = (int)lua_tonumber(L, 1);
  if(lua_isnumber(L,1)) h = (int)lua_tonumber(L, 2);

  lua_pushnumber(L, RNG(l,h));
  return 1;
}