Separated autopilot from AI code, added basic formation flying.

3 files changed, 168 insertions, 61 deletions

diff --git a/src/game/base/npc.cc b/src/game/base/npc.cc
index bb4c180..dba7929 100644
--- a/src/game/base/npc.cc
+++ b/src/game/base/npc.cc
@@ -71,11 +71,8 @@ void NPC::frame(const unsigned long elapsed)
 		}
 
 	} else {
-	
-		// FIXME verify the leader is still alive
-		
-		// TODO pilot magic and mood witchcraft
 		
+		// TODO pilot magic and mood witchcraft		
 		if (leader()) {
 			
 			// verify leader still exists
@@ -87,66 +84,22 @@ void NPC::frame(const unsigned long elapsed)
 			
 			} else if (leader()->zone() == zone()) {
 				
-				// rotate towards leader: direction
-				math::Vector3f d(leader()->location() - location());
-				float distance = d.length();
-				
-				d.normalize();
-				
-				float direction_angle = math::dotproduct(axis().forward(), d);
-				float direction_sign = math::sgnf(math::dotproduct(axis().left(), d));
-				
-				if (direction_sign < 0 ) {
-					target_direction = direction_sign;
-				} else if (direction_angle + MIN_DELTA < 1.0f ) {
-					target_direction = direction_sign * direction_angle;
-				} else {
-					target_direction = 0.0f;
-				}
-				
-				// rotate towards leader: pitch
-				direction_angle = math::dotproduct(axis().forward(), d);
-				direction_sign = math::sgnf(math::dotproduct(axis().up(), d));
-				
-				if (direction_sign < 0 ) {
-					target_pitch = direction_sign;
-				} else if (direction_angle + MIN_DELTA < 1.0f ) {
-					target_pitch = direction_sign * direction_angle;
-				} else {
-					target_pitch = 0.0f;
-				}
-				
-				const float r =  2.0f * (radius() + leader()->radius());
-				
-				if (distance > 2.0f * r + 50.0f) {
-					if (state() == core::Entity::Normal) {
-						// enable impulse drive
-						func_impulse();
-					}
-				} else {
-					if (state() == core::Entity::Impulse) {
-						
-						if (leader()->state() != core::Entity::Impulse) {
-							// disbable impulse drive
-							func_impulse();
-						}
-						
-					} else if (state() == core::Entity::Normal) {
-						
-						if ((leader()->state() == core::Entity::Impulse) || (leader()->state() == core::Entity::ImpulseInitiate)) {
-							// enable impulse drive
-							func_impulse();
-						}
+				if (leader()->state() == Docked) {
+					
+					// TODO dock where the leader is docked
+					if (leader()->dock()) {
+						frame_autopilot_goto(elapsed, leader()->dock());
 					}
 					
-				}
-				
-				if (distance > 2.0f * r) {
-					target_thrust = 1.0f;
-				} else if (distance > r) {
-					target_thrust = (distance - r ) / r;
 				} else {
-					target_thrust = 0.0f;
+					
+					if (math::distance(location(), leader()->location()) > 4.0f * ( radius() + leader()->radius())) {
+						// goto the leader
+						frame_autopilot_goto(elapsed, leader());
+					} else {
+						// formatian flying
+						frame_autopilot_formation(elapsed, leader());
+					}
 				}
 				
 			} else {
diff --git a/src/game/base/ship.cc b/src/game/base/ship.cc
index 6c5598e..23baa5d 100644
--- a/src/game/base/ship.cc
+++ b/src/game/base/ship.cc
@@ -990,4 +990,146 @@ void Ship::frame(const unsigned long elapsed)
 
 }
 
+void Ship::frame_autopilot_goto(const unsigned long elapsed, const core::Entity *target)
+{	
+	// reference radius used in calculations
+	const float r = radius() + target->radius();
+	
+	// desired direction
+	math::Vector3f direction(target->location() - location());
+	const float distance = direction.length();
+	direction.normalize();
+	
+	// transform direction from world coordinates to local entity coordinates
+	direction = axis().transpose() * direction;
+
+	if (direction.x() < 0) {
+		// target is behind the ship
+		target_direction = math::sgnf(direction.y());
+		target_pitch = 0.0f;
+		
+	} else if (direction.x() + MIN_DELTA < 1.0f) {
+		// target is in front of the ship
+		target_direction = direction.y();
+		target_pitch = direction.z();
+	} else {
+		target_direction = 0.0f;
+		target_pitch = 0.0f;
+	}
+	
+	target_roll = 0.0f;
+
+	// impulse or thruster
+	if (distance > r + 50.0f) {
+		
+		if (state() == core::Entity::Normal) {
+			// enable impulse drive
+			func_impulse();
+		}
+		
+	} else {
+		
+		if (target->type() == core::Entity::Controlable) {
+			
+			const core::EntityControlable *controlable = static_cast<const core::EntityControlable *>(target);
+		
+			if (state() == core::Entity::Impulse) {
+				
+				if (controlable->state() != core::Entity::Impulse) {
+					// disbable impulse drive
+					func_impulse();
+				}
+				
+			} else if (state() == core::Entity::Normal) {
+				
+				if ((controlable->state() == core::Entity::Impulse) || (controlable->state() == core::Entity::ImpulseInitiate)) {
+					// enable impulse drive
+					func_impulse();
+				}
+			}
+			
+		} else {
+			
+			if (state() == core::Entity::Impulse) {
+				func_impulse();
+			}
+		}
+	}
+	
+	// thruster
+	if (distance > 4.0f * r) {
+		target_thrust = 1.0f;
+		
+	} else if (distance > 2.0f * r ) {
+		target_thrust = (distance - 2.0f * r ) / 2.0f * r;
+		
+	} else {
+		target_thrust = 0.0f;
+		
+		// TODO autolevel
+	}
+}
+
+void Ship::frame_autopilot_formation(const unsigned long elapsed, const core::Entity *target)
+{
+	// transform the target's axis into local coordinates
+	const math::Axis reference(axis().transpose() * target->axis());
+	
+	//const float distance = math::distance(location(), target->location());
+	//const float r = radius() + target->radius();
+	
+	if (reference.forward().x() < 0) {
+		// target is behind the ship
+		target_direction = math::sgnf(reference.forward().y());
+		target_pitch = 0.0f;
+		target_roll = 0.0f;
+		
+	} else if (reference.forward().x() + MIN_DELTA < 1.0f) {
+		// target is in front of the ship
+		target_direction = reference.forward().y();
+		target_pitch = reference.forward().z();
+		target_roll = 0.0f;
+		
+	} else {
+		target_direction = 0.0f;
+		target_pitch = 0.0f;
+		
+		if (reference.up().z() < 0) {
+			// upward-down
+			target_roll = math::sgnf(reference.up().y());
+		} else {
+			target_roll = reference.up().y();
+		}	
+	}
+	
+	if (target->type() == core::Entity::Controlable) {
+			
+		const core::EntityControlable *controlable = static_cast<const core::EntityControlable *>(target);
+		
+		target_thrust = controlable->thrust();
+		
+		if (state() == core::Entity::Impulse) {
+			
+			if (controlable->state() != core::Entity::Impulse) {
+				// disbable impulse drive
+				func_impulse();
+			}
+			
+		} else if (state() == core::Entity::Normal) {
+			
+			if ((controlable->state() == core::Entity::Impulse) || (controlable->state() == core::Entity::ImpulseInitiate)) {
+				// enable impulse drive
+				func_impulse();
+			}
+		}
+		
+	} else {
+		if (state() == core::Entity::Impulse) {
+			// disable impulse drive
+			func_impulse();
+		}
+	}
+	
+}
+
 } // namespace game
diff --git a/src/game/base/ship.h b/src/game/base/ship.h
index 1de208d..ad2c71b 100644
--- a/src/game/base/ship.h
+++ b/src/game/base/ship.h
@@ -181,6 +181,18 @@ public:
 	
 	void set_spawn(core::Entity *spawn);
 
+protected:
+	
+	/**
+	 * @brief autopilot goto target
+	 * */
+	void frame_autopilot_goto(const unsigned long elapsed, const core::Entity *target);
+
+	/**
+	 * @brief autopilot formation flying
+	 * */
+	void frame_autopilot_formation(const unsigned long elapsed, const core::Entity *target);
+	
 private:
 	JumpPoint *find_closest_jumppoint();