/*
* $Id: ai.c,v 1.2 2005/08/03 21:40:53 av1-op Exp $
*
* Author: Markus Stenberg <fingon@iki.fi>
*
* Copyright (c) 1998 Markus Stenberg
* Copyright (c) 1998-2002 Thomas Wouters
* Copyright (c) 2000-2002 Cord Awtry
* All rights reserved
*
* Created: Thu Mar 12 18:36:33 1998 fingon
* Last modified: Thu Dec 10 21:46:30 1998 fingon
*
*/
/* Point of the excercise : move from point a,b to point c,d while
eliminating opponents and stuff, avoiding enemies in rear/side arc
and generally having fun */
#include <math.h>
#include "mech.h"
#include "autopilot.h"
#include "p.autopilot_command.h"
#include "p.mech.utils.h"
#include "p.map.obj.h"
#include "spath.h"
#include "p.mech.combat.h"
#include "p.glue.hcode.h"
#define SCORE_MOD 100
#define SAFE_SCORE SCORE_MOD * 1000
#define MIN_SAFE 8
#define NORM_SAFE 32
#define MAX_SIM_PATHS 40
typedef struct {
int e, t;
float s, ds;
float fx, fy;
short x, y, lx, ly;
int h;
int dh;
} LOC;
enum {
SP_OPT_NORM, SP_OPT_FASTER, SP_OPT_SLOWER, SP_OPT_C
};
int sp_opt[SP_OPT_C] = { 0, 1, -1 }; /* We prefer to keep at same speed, however */
#define MNORM_COUNT 37
int move_norm_opt[MNORM_COUNT][2] = {
{0, SP_OPT_FASTER},
{0, SP_OPT_NORM},
{0, SP_OPT_SLOWER},
{-1, SP_OPT_NORM},
{1, SP_OPT_NORM},
{-2, SP_OPT_NORM},
{2, SP_OPT_NORM},
{-3, SP_OPT_NORM},
{3, SP_OPT_NORM},
{-5, SP_OPT_NORM},
{5, SP_OPT_NORM},
{-10, SP_OPT_NORM},
{10, SP_OPT_NORM},
{-15, SP_OPT_NORM},
{15, SP_OPT_NORM},
{-20, SP_OPT_NORM},
{20, SP_OPT_NORM},
{-30, SP_OPT_NORM},
{30, SP_OPT_NORM},
{-40, SP_OPT_NORM},
{40, SP_OPT_NORM},
{-60, SP_OPT_NORM},
{60, SP_OPT_NORM},
{-60, SP_OPT_SLOWER},
{60, SP_OPT_SLOWER},
{-60, SP_OPT_FASTER},
{60, SP_OPT_FASTER},
{-80, SP_OPT_NORM},
{80, SP_OPT_NORM},
{-120, SP_OPT_NORM},
{120, SP_OPT_NORM},
{-160, SP_OPT_NORM},
{160, SP_OPT_NORM},
{-160, SP_OPT_SLOWER},
{160, SP_OPT_SLOWER},
{-160, SP_OPT_FASTER},
{160, SP_OPT_FASTER}
};
#define CFAST_COUNT 9
/* Update: Just do subset if we're in silly mood */
int combat_fast_opt[CFAST_COUNT][2] = {
{0, SP_OPT_FASTER},
{0, SP_OPT_NORM},
{0, SP_OPT_SLOWER},
{-10, SP_OPT_NORM},
{10, SP_OPT_NORM},
{-30, SP_OPT_NORM},
{30, SP_OPT_NORM},
{-60, SP_OPT_NORM},
{60, SP_OPT_NORM}
};
void sendAIM(AUTO * a, MECH * m, char *msg)
{
auto_reply(m, msg);
SendAI(msg);
}
char *AI_Info(MECH * m, AUTO * a)
{
static char buf[MBUF_SIZE];
sprintf(buf, "Unit#%d on #%d [A#%d]:", m->mynum, m->mapindex, a->mynum);
return buf;
}
extern float terrain_speed(MECH * mech, float tempspeed, float maxspeed,
int terrain, int elev);
static int ai_crash(MAP * map, MECH * m, LOC * l)
{
float newx = 0.0, newy = 0.0;
float tempspeed, maxspeed, acc;
int offset;
int normangle;
int mw_mod = 1;
int ch = 0;
if(!map)
return 0;
maxspeed = MMaxSpeed(m);
/* UpdateHeading */
if(l->h != l->dh && !(MechCritStatus(m) & GYRO_DESTROYED)) {
ch = 1;
if(is_aero(m))
maxspeed = maxspeed * ACCEL_MOD;
normangle = l->h - l->dh;
if(MechType(m) == CLASS_MW || MechType(m) == CLASS_BSUIT)
mw_mod = 60;
/* XXX Jumping */
if(fabs(l->s) < 1.0)
offset = 3 * maxspeed * MP_PER_KPH * mw_mod;
else {
offset = 2 * maxspeed * MP_PER_KPH * mw_mod;
if((abs(normangle) > offset) && (l->s > (maxspeed * 2 / 3)))
offset -= offset / 2 * (3.0 * l->s / maxspeed - 2.0);
}
offset = offset * MOVE_MOD;
if(normangle < 0)
normangle += 360;
if(IsDS(m) && offset >= 10)
offset = 10;
if(normangle > 180) {
l->h += offset;
if(l->h >= 360)
l->h -= 360;
normangle += offset;
if(normangle >= 360)
l->h = l->dh;
} else {
l->h -= offset;
if(l->h < 0)
l->h += 360;
normangle -= offset;
if(normangle < 0)
l->h = l->dh;
}
}
/* UpdateSpeed */
/* XXX MASC */
/* XXX heat (_hard_ to track) */
tempspeed = l->ds;
if(MechType(m) != CLASS_MW && MechMove(m) != MOVE_VTOL &&
(MechMove(m) != MOVE_FLY || Landed(m)))
tempspeed = terrain_speed(m, tempspeed, maxspeed, l->t, l->e);
if(ch) {
if(mudconf.btech_slowdown == 2) {
int dif = MechFacing(m) - MechDesiredFacing(m);
if(dif < 0)
dif = -dif;
if(dif > 180)
dif = 360 - dif;
if(dif) {
dif = (dif - 1) / 30 + 2;
tempspeed = tempspeed * (10 - dif) / 10;
}
} else if(mudconf.btech_slowdown == 1) {
if(l->h != l->dh)
tempspeed = tempspeed * 2.0 / 3.0;
else
tempspeed = tempspeed * 3.0 / 4.0;
}
}
if(MechIsQuad(m) && MechLateral(m))
tempspeed -= MP1;
if(tempspeed <= 0.0) {
tempspeed = 0.0;
}
if(l->ds < 0.)
tempspeed = -tempspeed;
if(tempspeed != l->s) {
if(MechIsQuad(m))
acc = maxspeed / 10.;
else
acc = maxspeed / 20.;
if(tempspeed < l->s) {
/* Decelerating */
l->s -= acc;
if(tempspeed > l->s)
l->s = tempspeed;
} else {
/* Accelerating */
l->s += acc;
if(tempspeed < l->s)
l->s = tempspeed;
}
}
/* move_mech + NewHexEntered */
/* XXX Jumping mechs [aeros,VTOLs] */
/* XXX Non-mechs */
/* XXX Quads */
FindComponents(l->s * MOVE_MOD, l->h, &newx, &newy);
l->fx += newx;
l->fy += newy;
l->lx = l->x;
l->ly = l->y;
RealCoordToMapCoord(&l->x, &l->y, l->fx, l->fy);
/* Ensure we don't run off map */
if(BOUNDED(0, l->x, map->map_width - 1) != l->x)
return 1;
if(BOUNDED(0, l->y, map->map_height - 1) != l->y)
return 1;
if(l->lx != l->x || l->ly != l->y) {
int oz = l->e;
/* Ensure if mech m can do transition auto_lx,auto_ly => auto_x,auto_y */
/* XXX Decent handling of terrain choosing and stuff */
switch (GetRTerrain(map, l->x, l->y)) {
case HEAVY_FOREST:
if(MechType(m) != CLASS_MECH)
return 1;
break;
case WATER:
if(MechMove(m) == MOVE_TRACK || MechMove(m) == MOVE_WHEEL)
return 1;
else {
/* Check floodability for mechs */
if(MechType(m) == CLASS_MECH) {
int t = Elevation(map, l->x, l->y);
if(t < 0) {
if(t == -1) {
/* Check feet */
#define Floodable(loc) (!GetSectArmor(m,loc) || (!GetSectRArmor(m,loc) && GetSectORArmor(m,loc)))
#define FloodCheck(loc) if (GetSectInt(m,loc)) if (Floodable(loc)) return 1;
FloodCheck(LLEG);
FloodCheck(RLEG);
if(MechIsQuad(m)) {
FloodCheck(LARM);
FloodCheck(RARM);
}
} else {
int i;
for(i = 0; i < NUM_SECTIONS; i++)
FloodCheck(i);
}
}
}
}
break;
case HIGHWATER:
return 1;
break;
}
l->e = Elevation(map, l->x, l->y);
if(MechMove(m) == MOVE_HOVER)
l->e = MAX(0, l->e);
l->t = GetRTerrain(map, l->x, l->y);
if(MechType(m) == CLASS_MECH)
if((l->e - oz) > 2 || (oz - l->e) > 2)
return 1;
/* XXX Check flooding etc, should avoid _that_ */
if(MechType(m) == CLASS_VEH_GROUND)
if((l->e - oz) > 1 || (oz - l->e) > 1)
return 1;
}
return 0;
}
static void LOCInit(LOC * l, MECH * m)
{
l->fx = MechFX(m);
l->fy = MechFY(m);
l->e = MechElevation(m);
l->h = MechFacing(m);
l->dh = MechDesiredFacing(m);
l->s = MechSpeed(m);
l->t = MechRTerrain(m);
l->ds = MechDesiredSpeed(m);
l->x = MechX(m);
l->y = MechY(m);
l->lx = MechX(m);
l->ly = MechY(m);
}
static LOC enemy_l[MAX_MECHS_PER_MAP];
static MECH *enemy_m[MAX_MECHS_PER_MAP]; /* Hopefully no more mechs on map */
static int enemy_o[MAX_MECHS_PER_MAP]; /* 'out' = not moving anymore (crashed?) */
static int enemy_i[MAX_MECHS_PER_MAP]; /* dbref */
static int enemy_c = 0; /* Number of enemies */
static LOC friend_l[MAX_MECHS_PER_MAP];
static MECH *friend_m[MAX_MECHS_PER_MAP]; /* Hopefully no more mechs on map */
static int friend_o[MAX_MECHS_PER_MAP]; /* 'out' = not moving anymore (crashed?) */
static int friend_i[MAX_MECHS_PER_MAP]; /* dbref */
static int friend_c = 0; /* Number of enemies */
int getEnemies(MECH * mech, MAP * map, int reset)
{
MECH *tempMech;
int i;
if(reset) {
for(i = 0; i < enemy_c; i++) {
LOCInit(&enemy_l[i], enemy_m[i]); /* Just reset location */
enemy_o[i] = 0;
}
return 0;
}
enemy_c = 0;
for(i = 0; i < map->first_free; i++) {
tempMech = FindObjectsData(map->mechsOnMap[i]);
if(!tempMech)
continue;
if(Destroyed(tempMech))
continue;
if(MechStatus(tempMech) & COMBAT_SAFE)
continue;
if(MechTeam(tempMech) == MechTeam(mech))
continue;
if(FlMechRange(map, mech, tempMech) > 50.0)
continue; /* Inconsequential */
/* Something that is _possibly_ unnerving */
LOCInit(&enemy_l[enemy_c], tempMech); /* Location */
enemy_m[enemy_c] = tempMech; /* Mech data */
enemy_i[enemy_c++] = i;
}
return enemy_c;
}
int getFriends(MECH * mech, MAP * map, int reset)
{
MECH *tempMech;
int i;
if(reset) {
for(i = 0; i < friend_c; i++) {
LOCInit(&friend_l[i], friend_m[i]); /* Just reset location */
friend_o[i] = 0;
}
return 0;
}
friend_c = 0;
for(i = 0; i < map->first_free; i++) {
tempMech = FindObjectsData(map->mechsOnMap[i]);
if(!tempMech)
continue;
if(Destroyed(tempMech))
continue;
if(MechTeam(tempMech) != MechTeam(mech))
continue;
if(MechType(tempMech) != CLASS_MECH)
continue;
if(FlMechRange(map, mech, tempMech) > 50.0)
continue; /* Inconsequential */
LOCInit(&friend_l[friend_c], tempMech); /* Location */
friend_m[friend_c] = tempMech; /* Mech data */
friend_i[friend_c++] = i;
}
return friend_c;
}
/* This has been made .. slightly more complicated.
Basic idea (now): Calculate all the [n] states _simultaneously_ ;
our movement isn't affecting enemy/friend movement after all, just
our own, therefore this is _almost_ [n] times faster than the old code
(approx. 1/30 P60 per 'sheep outside combat, perhaps 1/10 P60 inside) */
#define MAGIC_NUM -123456
#define U1(a,b) if (a < b || a == MAGIC_NUM) a = b
#define U2(a,b) if (a > b || a == MAGIC_NUM) a = b
#define FU(a,b,c,s) ((b) == (c) ? 0 : (s) * ((a) - (b)) / ((c) - (b)))
void ai_path_score(MECH * m, MAP * map, AUTO * a, int opts[][2], int num_o,
int gotenemy, float dx, float dy, float delx, float dely,
int *rl, int *bd, int *bscore)
{
int i, j, k, l, bearing;
int sd, sc;
LOC lo[MAX_SIM_PATHS];
int dan[MAX_SIM_PATHS], tdan[MAX_SIM_PATHS], msc[MAX_SIM_PATHS],
bsc[MAX_SIM_PATHS];
int out[MAX_SIM_PATHS], stack[MAX_SIM_PATHS], br[MAX_SIM_PATHS];
for(i = 0; i < num_o; i++) {
msc[i] = 0;
bsc[i] = 0;
dan[i] = 0;
tdan[i] = 0;
out[i] = 0;
stack[i] = 0;
br[i] = 9999;
LOCInit(&lo[i], m);
lo[i].dh = AcceptableDegree(lo[i].dh + opts[i][0]);
sd = sp_opt[opts[i][1]];
if(sd) {
if(sd < 0) {
lo[i].ds = lo[i].ds * 2.0 / 3.0;
} else if(sd == 1) {
float ms = MMaxSpeed(m);
lo[i].ds = (lo[i].ds < MP1 ? MP1 : lo[i].ds) * 4.0 / 3.0;
if(lo[i].ds > ms)
lo[i].ds = ms;
} else {
float ms = MMaxSpeed(m);
lo[i].ds = ms;
}
}
}
for(i = 0; i < NORM_SAFE; i++) {
dx += delx;
dy += dely;
for(k = 0; k < num_o; k++) {
if(out[k])
continue;
if(ai_crash(map, m, &lo[k])) { /* Simulate _one_ step */
out[k] = i + 1;
continue;
}
/* Base target-acquisition stuff */
if((l = FindXYRange(lo[k].fx, lo[k].fy, dx, dy)) < br[k])
br[k] = l;
/* Generally speaking we're going to the point spesified */
msc[k] += 4 * (2 * (50 - br[k]) + (100 - l));
/* Heading change's inherently [slightly] evil */
if(lo[k].h != lo[k].dh)
msc[k] -= 1;
/* Moving is a good thing */
if(lo[k].x != lo[k].lx || lo[k].y != lo[k].ly) {
if(lo[k].t == WATER)
msc[k] -= 5;
msc[k] += 10;
}
/* Punish for not utilizing full speed (this is .. hm, flaky) */
if(opts[k][1] != SP_OPT_FASTER && MMaxSpeed(m) > 0.1) {
sc = BOUNDED(0, 100 * lo[k].ds / MMaxSpeed(m), 100);
msc[k] -= (100 - sc) / 30; /* Basically, unused speed is bad */
}
}
if(MechType(m) == CLASS_MECH) {
/* Simulate friends */
for(j = 0; j < friend_c; j++) {
if(friend_o[j])
continue;
if(ai_crash(map, friend_m[j], &friend_l[j]))
friend_o[j] = 1;
}
for(k = 0; k < num_o; k++) {
int sc = 0;
if(out[k] || stack[k])
continue;
/* Meaning of stack: Someone moves _into_ the hex */
for(j = 0; j < friend_c; j++)
if(!friend_o[j])
if(lo[k].x == friend_l[j].x &&
lo[k].y == friend_l[j].y)
sc++;
if(sc > 1) { /* Possible stackage */
int osc = sc;
for(j = 0; j < friend_c; j++)
if(!friend_o[j])
if(lo[k].x == friend_l[j].x &&
lo[k].y == friend_l[j].y)
if((lo[k].lx != lo[k].x ||
lo[k].ly != lo[k].y) ||
(friend_l[j].lx != friend_l[j].x ||
friend_l[j].ly != friend_l[j].y))
osc--;
if(osc != sc)
stack[k] = i + 1;
}
if(gotenemy)
tdan[k] = 0;
}
}
if(gotenemy) {
/* Update enemy locations as well */
for(j = 0; j < enemy_c; j++) {
if(enemy_o[j])
continue;
if(ai_crash(map, enemy_m[j], &enemy_l[j]))
enemy_o[j] = 1;
for(k = 0; k < num_o; k++) {
if(out[k])
continue;
if((l = MyHexDist(lo[k].x, lo[k].y, enemy_l[j].x,
enemy_l[j].y, 0)) >= 100)
continue;
switch (a->auto_cmode) {
case 0: /* Withdraw */
if(l > a->auto_cdist)
bsc[k] += 5 * a->auto_cdist + l - a->auto_cdist;
else
bsc[k] += 5 * l;
break;
case 1: /* Score = fulfilling goal (=> distance from cdist) */
if(l < a->auto_cdist)
bsc[k] -= 10 * (a->auto_cdist - l); /* Not too close */
else
bsc[k] -= 2 * (l - a->auto_cdist);
break;
case 2:
if(l < a->auto_cdist)
bsc[k] -= 2 * (a->auto_cdist - l);
else
bsc[k] -= 10 * (l - a->auto_cdist);
}
if(l > 28)
continue;
/* Danger modifier ; it's _always_ dangerous to be close */
tdan[k] += (40 - MIN(40, l));
/* Arcs can be .. dangerous */
if(MechType(m) == CLASS_MECH) {
bearing =
FindBearing(lo[k].fx, lo[k].fy, enemy_l[j].fx,
enemy_l[j].fy);
bearing = lo[k].h - bearing;
if(bearing < 0)
bearing += 360;
if(bearing >= 90 && bearing <= 270) {
/* Sides are moderately dangerous [potential rear arcs] */
tdan[k] += 5 * (29 - MIN(29, l));
if(bearing >= 120 && bearing <= 240) {
/* Rear arc is VERY dangerous */
tdan[k] += 20 * (29 - MIN(29, l));
}
}
} else if(MechType(m) == CLASS_VEH_GROUND) {
bearing =
FindBearing(lo[k].fx, lo[k].fy, enemy_l[j].fx,
enemy_l[j].fy);
bearing = lo[k].h - bearing;
if(bearing < 0)
bearing += 360;
if(bearing >= 45 && bearing <= 315) {
if(bearing >= 135 && bearing <= 225) {
/* Rear arc is VERY dangerous */
tdan[k] +=
10 * (29 - MIN(29,
l)) * (100 -
100 *
GetSectArmor(m,
BSIDE)
/ MAX(1,
GetSectOArmor
(m,
BSIDE))) /
100;
} else if(bearing < 135) {
/* right side */
tdan[k] +=
7 * (29 - MIN(29,
l)) * (100 -
100 * GetSectArmor(m,
RSIDE)
/ MAX(1,
GetSectOArmor
(m,
RSIDE))) /
100;
} else {
tdan[k] +=
7 * (29 - MIN(29,
l)) * (100 -
100 * GetSectArmor(m,
LSIDE)
/ MAX(1,
GetSectOArmor
(m,
LSIDE))) /
100;
}
} else
tdan[k] +=
5 * (29 - MIN(29,
l)) * (100 -
100 * GetSectArmor(m,
FSIDE)
/ MAX(1,
GetSectOArmor(m,
FSIDE)))
/ 100;
}
}
for(k = 0; k < num_o; k++) {
if(out[k])
continue;
/* Dangerous to be far from buddy in fight */
l = FindXYRange(lo[k].fx, lo[k].fy, dx, dy);
if(gotenemy && (delx != 0.0 || dely != 0.0))
tdan[k] += MIN(100, l * l);
if(enemy_c)
tdan[k] = tdan[k] / enemy_c;
/* It's inherently dangerous to move slowly: */
if(lo[k].s <= MP2)
tdan[k] += 400;
else if(lo[k].s <= MP4)
tdan[k] += 300;
else if(lo[k].s <= MP6)
tdan[k] += 200;
else if(lo[k].s <= MP9)
tdan[k] += 100;
dan[k] += tdan[k] * (NORM_SAFE - i) / (NORM_SAFE / 2);
}
}
}
}
for(i = 0; i < num_o; i++) {
U2(a->w_msc, msc[i]);
U1(a->b_msc, msc[i]);
if(gotenemy) {
U2(a->w_bsc, bsc[i]);
U1(a->b_bsc, bsc[i]);
U2(a->w_dan, dan[i]);
U1(a->b_dan, dan[i]);
}
}
/* Now we have been.. calibrated */
*bscore = 0;
*bd = -1;
/* Find best overall score */
for(i = 0; i < num_o; i++) {
if(!out[i])
out[i] = NORM_SAFE + 1;
if(!stack[i])
stack[i] = out[i];
sc = (out[i] - (out[i] - stack[i]) / 2) * SAFE_SCORE + FU(msc[i],
a->w_msc,
a->b_msc,
SCORE_MOD *
a->
auto_goweight);
if(gotenemy)
sc +=
FU(bsc[i], a->w_bsc, a->b_bsc,
SCORE_MOD * a->auto_fweight) - FU(dan[i], a->w_dan,
a->b_dan,
SCORE_MOD *
(a->auto_fweight +
a->auto_goweight));
if(sc > *bscore
|| (*bd >= 0 && sc == *bscore
&& sp_opt[opts[i][1]] > sp_opt[opts[*bd][1]])) {
*bscore = sc;
*bd = i;
*rl = out[i] - 1;
}
}
}
int ai_max_speed(MECH * m, AUTO * a)
{
float ms;
if(MechDesiredSpeed(m) != (ms = MMaxSpeed(m)))
return 0;
return 1;
}
int ai_opponents(AUTO * a, MECH * m)
{
if(a->auto_nervous) {
a->auto_nervous--;
return 1;
}
if(MechNumSeen(m))
a->auto_nervous = 30; /* We'll stay frisky for awhile even if cons are lost for one reason or another */
return MechNumSeen(m);
}
void ai_run_speed(MECH * mech, AUTO * a)
{
/* Warp speed, cap'n! */
char buf[128];
if(!ai_max_speed(mech, a)) {
strcpy(buf, "run");
mech_speed(a->mynum, mech, buf);
}
}
void ai_stop(MECH * mech, AUTO * a)
{
char buf[128];
if(MechDesiredSpeed(mech) > 0.1) {
strcpy(buf, "stop");
mech_speed(a->mynum, mech, buf);
}
}
#if 0
void ai_set_speed(MECH * mech, AUTO * a, int s)
{
float ms;
char buf[SBUF_SIZE];
if(s >= 99) { /* To cover rounding errors */
ai_run_speed(mech, a);
return;
}
if(!s) {
ai_stop(mech, a);
return;
}
/* Send in percentage-based speed */
ms = MMaxSpeed(mech);
ms = ms * s / 100.0;
if(MechDesiredSpeed(mech) != ms) {
sprintf(buf, "%f", ms);
mech_speed(a->mynum, mech, buf);
}
}
#endif
void ai_set_speed(MECH * mech, AUTO * a, float spd)
{
char buf[SBUF_SIZE];
float newspeed;
if(!mech || !a)
return;
newspeed = FBOUNDED(0, spd, ((MMaxSpeed(mech) * a->speed) / 100.0));
if(MechDesiredSpeed(mech) != newspeed) {
sprintf(buf, "%f", newspeed);
mech_speed(a->mynum, mech, buf);
}
}
void ai_set_heading(MECH * mech, AUTO * a, int dir)
{
char buf[128];
if(dir == MechDesiredFacing(mech))
return;
sprintf(buf, "%d", dir);
mech_heading(a->mynum, mech, buf);
}
#define UNREF(a,b,mod) if (a != MAGIC_NUM && b != MAGIC_NUM) { int c = a, d = b; a = (c * (mod - 1) + d) / mod; b = (c + d * (mod - 1)) / mod; }
void ai_adjust_move(AUTO * a, MECH * m, char *text, int hmod, int smod,
int b_score)
{
float ms;
ai_set_heading(m, a, MechDesiredFacing(m) + hmod);
switch (smod) {
default:
SendAI("%s state: %s (hmod:%d) sc:%d", AI_Info(m, a), text, hmod,
b_score);
break;
case SP_OPT_FASTER:
SendAI("%s state: %s+accelerating (hmod:%d) sc:%d", AI_Info(m, a),
text, hmod, b_score);
ms = MMaxSpeed(m);
ai_set_speed(m, a,
(float) ((MechDesiredSpeed(m) <
MP1 ? MP1 : MechDesiredSpeed(m)) * 4.0 / 3.0));
break;
case SP_OPT_SLOWER:
SendAI("%s state: %s+decelerating (hmod:%d) sc:%d", AI_Info(m, a),
text, hmod, b_score);
ms = MMaxSpeed(m);
ai_set_speed(m, a, (int) (MechDesiredSpeed(m) * 2.0 / 3.0));
break;
}
}
int ai_check_path(MECH * m, AUTO * a, float dx, float dy, float delx,
float dely)
{
int o;
int b_len, bl, b, b_score;
MAP *map = getMap(m->mapindex);
o = ai_opponents(a, m);
if(a->last_upd > mudstate.now || (mudstate.now - a->last_upd) > AUTO_GOET) {
if((muxevent_tick - a->last_upd) > AUTO_GOTT) {
a->b_msc = MAGIC_NUM;
a->w_msc = MAGIC_NUM;
a->b_bsc = MAGIC_NUM;
a->w_bsc = MAGIC_NUM;
a->b_dan = MAGIC_NUM;
a->b_dan = (40 + 20 * 29 + 100) * 30; /* To stay focused */
} else {
/* Slight update ; Un-refine the goals somewhat */
UNREF(a->w_msc, a->b_msc, 3);
UNREF(a->w_bsc, a->b_bsc, 5);
UNREF(a->w_dan, a->b_dan, 8);
a->b_dan = MAX(a->b_dan, (40 + 20 * 29 + 100) * 30); /* To stay focused */
}
a->last_upd = mudstate.now;
}
/* Got either opponents (nasty) or [possibly] blocked path (slightly nasty), i.e. 12sec */
if(MechType(m) == CLASS_MECH)
getFriends(m, map, 0);
if(o) {
getEnemies(m, map, 0);
if(!((muxevent_tick / AUTOPILOT_GOTO_TICK) % 4)) { /* Just every fourth tick, i.e. 12sec */
/* Thorough check */
ai_path_score(m, map, a, move_norm_opt, MNORM_COUNT, 1, dx, dy,
delx, dely, &bl, &b, &b_score);
b_len = b_score / SAFE_SCORE;
if(b_len >= MIN_SAFE)
ai_adjust_move(a, m, "combat(/twitchy)",
move_norm_opt[b][0], move_norm_opt[b][1],
b_score);
} else {
ai_path_score(m, map, a, combat_fast_opt, CFAST_COUNT, 1, dx,
dy, delx, dely, &bl, &b, &b_score);
b_len = b_score / SAFE_SCORE;
if(b_len >= MIN_SAFE)
ai_adjust_move(a, m, "[f]combat(/twitchy)",
combat_fast_opt[b][0], combat_fast_opt[b][1],
b_score);
}
return 1; /* We want to keep fighting near foes */
}
if(!((muxevent_tick / AUTOPILOT_GOTO_TICK) % 4)) { /* Just every fourth tick, i.e. 12sec */
/* Thorough check */
ai_path_score(m, map, a, move_norm_opt, MNORM_COUNT, 0, dx, dy,
delx, dely, &bl, &b, &b_score);
b_len = b_score / SAFE_SCORE;
if(b_len >= MIN_SAFE)
ai_adjust_move(a, m, "moving", move_norm_opt[b][0],
move_norm_opt[b][1], b_score);
} else {
ai_path_score(m, map, a, combat_fast_opt, CFAST_COUNT, 0, dx, dy,
delx, dely, &bl, &b, &b_score);
b_len = b_score / SAFE_SCORE;
if(b_len >= MIN_SAFE)
ai_adjust_move(a, m, "[f]moving", combat_fast_opt[b][0],
combat_fast_opt[b][1], b_score);
}
if(b_len >= MIN_SAFE)
return 1;
/* Slow down + stop - no sense in dying needlessly */
ai_stop(m, a);
SendAI("%s state: panic", AI_Info(m, a));
sendAIM(a, m, "PANIC! Unable to comply with order.");
return 0;
}
void ai_init(AUTO * a, MECH * m)
{
/* XXX Analyze our unit type ; set basic combat tactic */
a->auto_cmode = 1; /* CHARGE! */
a->auto_cdist = 2; /* Attempt to avoid kicking distance */
a->auto_nervous = 0;
a->auto_goweight = 44; /* We're mainly concentrating on fighting */
a->auto_fweight = 55;
a->speed = 100; /* Reset to full speed */
a->flags = 0;
a->target = -1;
}
static MECH *target_mech;
int artillery_round_flight_time(float fx, float fy, float tx, float ty);
static int mech_snipe_func(MECH * mech, dbref player, int index, int high)
{
/* Simulate mech movements until flight_time <= now */
int now = 0, crashed = 0;
int flt_time;
LOC t;
MAP *map = getMap(mech->mapindex);
LOCInit(&t, target_mech);
while ((flt_time =
artillery_round_flight_time(MechFX(mech), MechFY(mech), t.fx,
t.fy)) > now) {
if(!crashed)
if(ai_crash(map, target_mech, &t))
crashed = 1;
now++;
}
/* Fire at t.x, t.y */
if(MechTargX(mech) != t.x || MechTargY(mech) != t.y)
mech_settarget(player, mech, tprintf("%d %d", t.x, t.y));
mech_fireweapon(player, mech, tprintf("%d", index));
return 0;
}
void mech_snipe(dbref player, MECH * mech, char *buffer)
{
char *args[3];
dbref d;
DOCHECK(!WizRoy(player), "Permission denied.");
DOCHECK(mech_parseattributes(buffer, args, 3) != 2,
"Please supply target ID _and_ weapon(s) to use");
DOCHECK((d =
FindTargetDBREFFromMapNumber(mech, args[0])) <= 0,
"Invalid target!");
target_mech = getMech(d);
multi_weap_sel(mech, player, args[1], 1, mech_snipe_func);
}
/* Experimental (highly) path finding system based on the A* 'a-star'
* system used in many typical games.
*
* Dany - 08/2005 */
/*
* Create an astar node and return a pointer to it
*/
static astar_node *auto_create_astar_node(short x, short y,
short x_parent, short y_parent,
short g_score, short h_score)
{
astar_node *temp;
temp = malloc(sizeof(astar_node));
if(temp == NULL)
return NULL;
memset(temp, 0, sizeof(astar_node));
temp->x = x;
temp->y = y;
temp->x_parent = x_parent;
temp->y_parent = y_parent;
temp->g_score = g_score;
temp->h_score = h_score;
temp->f_score = g_score + h_score;
temp->hexoffset = x * MAPY + y;
return temp;
}
/*
* The A* (A-Star) path finding function for the AI
*
* Returns 1 if it found a path and 0 if it doesn't
*/
int astar_compare(int a, int b, void *arg)
{
return a - b;
}
void astar_release(void *key, void *data)
{
free(data);
}
int auto_astar_generate_path(AUTO * autopilot, MECH * mech, short end_x,
short end_y)
{
MAP *map = getMap(autopilot->mapindex);
int found_path = 0;
/* Our bit arrays */
unsigned char closed_list_bitfield[(MAPX * MAPY) / 8];
unsigned char open_list_bitfield[(MAPX * MAPY) / 8];
float x1, y1, x2, y2; /* Floating point vars for real cords */
short map_x1, map_y1, map_x2, map_y2; /* The actual map 'hexes' */
int i;
int child_g_score, child_h_score; /* the score values for the child hexes */
int hexoffset; /* temp int to pass around as the hexoffset */
/* Our lists using Hag's rbtree */
/* Using two rbtree's to store the open_list so we can sort two
* different ways */
rbtree open_list_by_score; /* open list sorted by score */
rbtree open_list_by_xy; /* open list sorted by hexoffset */
rbtree closed_list; /* closed list sorted by hexoffset */
/* Helper node for the final path */
dllist_node *astar_path_node;
/* Our astar_node helpers */
astar_node *temp_astar_node;
astar_node *parent_astar_node;
#ifdef DEBUG_ASTAR
/* Log File */
FILE *logfile;
char log_msg[MBUF_SIZE];
/* Open the logfile */
logfile = fopen("astar.log", "a");
/* Write first message */
snprintf(log_msg, MBUF_SIZE,
"\nStarting ASTAR Path finding for AI #%d from "
"%d, %d to %d, %d\n", autopilot->mynum, MechX(mech), MechY(mech),
end_x, end_y);
fprintf(logfile, "%s", log_msg);
#endif
/* Zero the bitfields */
memset(closed_list_bitfield, 0, sizeof(closed_list_bitfield));
memset(open_list_bitfield, 0, sizeof(open_list_bitfield));
/* Setup the trees */
open_list_by_score = rb_init((void *)astar_compare, NULL);
open_list_by_xy = rb_init((void *)astar_compare, NULL);
closed_list = rb_init((void *)astar_compare, NULL);
/* Setup the path */
/* Destroy any existing path first */
auto_destroy_astar_path(autopilot);
autopilot->astar_path = dllist_create_list();
/* Setup the start hex */
temp_astar_node =
auto_create_astar_node(MechX(mech), MechY(mech), -1, -1, 0, 0);
if(temp_astar_node == NULL) {
/*! \todo {Add code here to break if we can't alloc memory} */
#ifdef DEBUG_ASTAR
/* Write Log Message */
snprintf(log_msg, MBUF_SIZE,
"AI ERROR - Unable to malloc astar node for " "hex %d, %d\n",
MechX(mech), MechY(mech));
fprintf(logfile, "%s", log_msg);
#endif
}
/* Add start hex to open list */
rb_insert(open_list_by_score, (void *) temp_astar_node->f_score,
temp_astar_node);
rb_insert(open_list_by_xy, (void *) temp_astar_node->hexoffset,
temp_astar_node);
SetHexBit(open_list_bitfield, temp_astar_node->hexoffset);
#ifdef DEBUG_ASTAR
/* Log it */
snprintf(log_msg, MBUF_SIZE, "Added hex %d, %d (%d %d) to open list\n",
temp_astar_node->x, temp_astar_node->y, temp_astar_node->g_score,
temp_astar_node->h_score);
fprintf(logfile, "%s", log_msg);
#endif
/* Now loop till we find path */
while (!found_path) {
/* Check to make sure there is still stuff in the open list
* if not, means we couldn't find a path so quit */
if(rb_size(open_list_by_score) == 0) {
break;
}
/* Get lowest cost node, then remove it from the open list */
parent_astar_node = (astar_node *) rb_search(open_list_by_score,
SEARCH_FIRST, NULL);
rb_delete(open_list_by_score, (void *) parent_astar_node->f_score);
rb_delete(open_list_by_xy, (void *) parent_astar_node->hexoffset);
ClearHexBit(open_list_bitfield, parent_astar_node->hexoffset);
#ifdef DEBUG_ASTAR
/* Log it */
snprintf(log_msg, MBUF_SIZE, "Removed hex %d, %d (%d %d) from open "
"list - lowest cost node\n",
parent_astar_node->x, parent_astar_node->y,
parent_astar_node->g_score, parent_astar_node->h_score);
fprintf(logfile, "%s", log_msg);
#endif
/* Add it to the closed list */
rb_insert(closed_list, (void *) parent_astar_node->hexoffset,
parent_astar_node);
SetHexBit(closed_list_bitfield, parent_astar_node->hexoffset);
#ifdef DEBUG_ASTAR
/* Log it */
snprintf(log_msg, MBUF_SIZE, "Added hex %d, %d (%d %d) to closed list"
" - lowest cost node\n",
parent_astar_node->x, parent_astar_node->y,
parent_astar_node->g_score, parent_astar_node->h_score);
fprintf(logfile, "%s", log_msg);
#endif
/* Now we check to see if we added the end hex to the closed list.
* When this happens it means we are done */
if(CheckHexBit(closed_list_bitfield, HexOffSet(end_x, end_y))) {
found_path = 1;
#ifdef DEBUG_ASTAR
fprintf(logfile, "Found path for the AI\n");
#endif
break;
}
/* Update open list */
/* Loop through the hexes around current hex and see if we can add
* them to the open list */
/* Set the parent hex of the new nodes */
map_x1 = parent_astar_node->x;
map_y1 = parent_astar_node->y;
/* Going around clockwise direction */
for(i = 0; i < 360; i += 60) {
/* Map coord to Real */
MapCoordToRealCoord(map_x1, map_y1, &x1, &y1);
/* Calc new hex */
FindXY(x1, y1, i, 1.0, &x2, &y2);
/* Real coord to Map */
RealCoordToMapCoord(&map_x2, &map_y2, x2, y2);
/* Make sure the hex is sane */
if(map_x2 < 0 || map_y2 < 0 ||
map_x2 >= map->map_width || map_y2 >= map->map_height)
continue;
/* Generate hexoffset for the child node */
hexoffset = HexOffSet(map_x2, map_y2);
/* Check to see if its in the closed list
* if so just ignore it */
if(CheckHexBit(closed_list_bitfield, hexoffset))
continue;
/* Check to see if we can enter it */
if((MechType(mech) == CLASS_MECH) &&
(abs(Elevation(map, map_x1, map_y1)
- Elevation(map, map_x2, map_y2)) > 2))
continue;
if((MechType(mech) == CLASS_VEH_GROUND) &&
(abs(Elevation(map, map_x1, map_y1)
- Elevation(map, map_x2, map_y2)) > 1))
continue;
/* Score the hex */
/* Right now just assume movement cost from parent to child hex is
* the same (so 100) no matter which dir we go*/
/*! \todo {Possibly add in code to make turning less desirable} */
child_g_score = 100;
/* Now add the g score from the parent */
child_g_score += parent_astar_node->g_score;
/* Next get range */
/* Using a varient of the Manhattan method since its perfectly
* logical for us to go diagonally
*
* Basicly just going to get the range,
* and multiply by 100 */
/*! \todo {Add in something for elevation cost} */
/* Get the end hex in real coords, using the old variables
* to store the values */
MapCoordToRealCoord(end_x, end_y, &x1, &y1);
/* Re-using the x2 and y2 values we calc'd for the child hex
* to find the range between the child hex and end hex */
child_h_score = 100 * FindHexRange(x2, y2, x1, y1);
/* Now add in some modifiers for terrain */
switch (GetTerrain(map, map_x2, map_y2)) {
case LIGHT_FOREST:
/* Don't bother trying to enter a light forest
* hex unless we can */
if((MechType(mech) == CLASS_VEH_GROUND) &&
(MechMove(mech) != MOVE_TRACK))
continue;
child_g_score += 50;
break;
case ROUGH:
child_g_score += 50;
break;
case HEAVY_FOREST:
/* Don't bother trying to enter a heavy forest
* hex unless we can */
if(MechType(mech) == CLASS_VEH_GROUND)
continue;
child_g_score += 100;
break;
case MOUNTAINS:
child_g_score += 100;
break;
case WATER:
/* Don't bother trying to enter a water hex
* unless we can */
if((MechType(mech) == CLASS_VEH_GROUND) &&
(MechMove(mech) != MOVE_HOVER))
continue;
/* We really don't want them trying to enter water */
child_g_score += 200;
break;
case HIGHWATER:
/* Don't bother trying to enter a water hex
* unless we can */
if((MechType(mech) == CLASS_VEH_GROUND) &&
(MechMove(mech) != MOVE_HOVER))
continue;
/* We really don't want them trying to enter water */
child_g_score += 200;
break;
default:
break;
}
/* Is it already on the openlist */
if(CheckHexBit(open_list_bitfield, hexoffset)) {
/* Ok need to compare the scores and if necessary recalc
* and change stuff */
/* Get the node off the open_list */
temp_astar_node = (astar_node *) rb_find(open_list_by_xy,
(void *) hexoffset);
/* Now compare the 'g_scores' to determine shortest path */
/* If g_score is lower, this means better path
* from the current parent node */
if(child_g_score < temp_astar_node->g_score) {
/* Remove from open list */
rb_delete(open_list_by_score,
(void *) temp_astar_node->f_score);
rb_delete(open_list_by_xy,
(void *) temp_astar_node->hexoffset);
ClearHexBit(open_list_bitfield,
temp_astar_node->hexoffset);
#ifdef DEBUG_ASTAR
/* Log it */
snprintf(log_msg, MBUF_SIZE,
"Removed hex %d, %d (%d %d) from "
"open list - score recal\n", temp_astar_node->x,
temp_astar_node->y, temp_astar_node->g_score,
temp_astar_node->h_score);
fprintf(logfile, "%s", log_msg);
#endif
/* Recalc score */
/* H-Score should be the same since the hex doesn't move */
temp_astar_node->g_score = child_g_score;
temp_astar_node->f_score = temp_astar_node->g_score +
temp_astar_node->h_score;
/* Change parent hex */
temp_astar_node->x_parent = map_x1;
temp_astar_node->y_parent = map_y1;
/* Will re-add the node below */
} else {
/* Don't need to do anything so we can skip
* to the next node */
continue;
}
} else {
/* Node isn't on the open list so we have to create it */
temp_astar_node =
auto_create_astar_node(map_x2, map_y2, map_x1, map_y1,
child_g_score, child_h_score);
if(temp_astar_node == NULL) {
/*! \todo {Add code here to break if we can't alloc memory} */
#ifdef DEBUG_ASTAR
/* Log it */
snprintf(log_msg, MBUF_SIZE,
"AI ERROR - Unable to malloc astar"
" node for hex %d, %d\n", map_x2, map_y2);
fprintf(logfile, "%s", log_msg);
#endif
}
}
/* Now add (or re-add) the node to the open list */
/* Hack to check to make sure its score is not already on the open
* list. This slightly skews the results towards nodes found earlier
* then those found later */
while (1) {
if(rb_exists
(open_list_by_score, (void *) temp_astar_node->f_score)) {
temp_astar_node->f_score++;
#ifdef DEBUG_ASTAR
fprintf(logfile, "Adjusting score for hex %d, %d - same"
" fscore already exists\n",
temp_astar_node->x, temp_astar_node->y);
#endif
} else {
break;
}
}
rb_insert(open_list_by_score, (void *) temp_astar_node->f_score,
temp_astar_node);
rb_insert(open_list_by_xy, (void *) temp_astar_node->hexoffset,
temp_astar_node);
SetHexBit(open_list_bitfield, temp_astar_node->hexoffset);
#ifdef DEBUG_ASTAR
/* Log it */
snprintf(log_msg, MBUF_SIZE,
"Added hex %d, %d (%d %d) to open list\n",
temp_astar_node->x, temp_astar_node->y,
temp_astar_node->g_score, temp_astar_node->h_score);
fprintf(logfile, "%s", log_msg);
#endif
} /* End of looking for hexes next to us */
} /* End of looking for path */
/* We Done lets go */
/* Lets first see if we found a path */
if(found_path) {
#ifdef DEBUG_ASTAR
/* Log Message */
fprintf(logfile, "Building Path from closed list for AI\n");
#endif
/* Found a path so we need to go through the closed list
* and generate it */
/* Get the end hex, find its parent hex and work back to
* start hex while building list */
/* Get end hex from closed list */
hexoffset = HexOffSet(end_x, end_y);
temp_astar_node = rb_find(closed_list, (void *) hexoffset);
/* Add end hex to path list */
astar_path_node = dllist_create_node(temp_astar_node);
dllist_insert_beginning(autopilot->astar_path, astar_path_node);
#ifdef DEBUG_ASTAR
/* Log it */
fprintf(logfile, "Added hex %d, %d to path list\n",
temp_astar_node->x, temp_astar_node->y);
#endif
/* Remove it from closed list */
rb_delete(closed_list, (void *) temp_astar_node->hexoffset);
#ifdef DEBUG_ASTAR
/* Log it */
fprintf(logfile,
"Removed hex %d, %d from closed list - path list work\n",
temp_astar_node->x, temp_astar_node->y);
#endif
/* Check if the end hex is the start hex */
if(!(temp_astar_node->x == MechX(mech) &&
temp_astar_node->y == MechY(mech))) {
/* Its not so lets loop through the closed list
* building the path */
/* Loop */
while (1) {
/* Get Parent Node Offset */
hexoffset = HexOffSet(temp_astar_node->x_parent,
temp_astar_node->y_parent);
/*! \todo {Possibly add check here incase the node we're
* looking for some how did not end up on the list} */
/* Get Parent Node from closed list */
parent_astar_node = rb_find(closed_list, (void *) hexoffset);
/* Check if start hex */
/* If start hex quit */
if(parent_astar_node->x == MechX(mech) &&
parent_astar_node->y == MechY(mech)) {
break;
}
/* Add to path list */
astar_path_node = dllist_create_node(parent_astar_node);
dllist_insert_beginning(autopilot->astar_path,
astar_path_node);
#ifdef DEBUG_ASTAR
/* Log it */
fprintf(logfile, "Added hex %d, %d to path list\n",
parent_astar_node->x, parent_astar_node->y);
#endif
/* Remove from closed list */
rb_delete(closed_list, (void *) parent_astar_node->hexoffset);
#ifdef DEBUG_ASTAR
/* Log it */
fprintf(logfile,
"Removed hex %d, %d from closed list - path list work\n",
parent_astar_node->x, parent_astar_node->y);
#endif
/* Make parent new child */
temp_astar_node = parent_astar_node;
} /* End of while loop */
}
/* Done with the path its cleanup time */
}
/* Make sure we destroy all the objects we dont need any more */
#ifdef DEBUG_ASTAR
/* Log Message */
fprintf(logfile, "Destorying the AI lists\n");
#endif
/* Destroy the open lists */
rb_release(open_list_by_score, (void *)astar_release, NULL);
rb_destroy(open_list_by_xy);
/* Destroy the closed list */
rb_release(closed_list, (void *)astar_release, NULL);
#ifdef DEBUG_ASTAR
/* Close Log file */
fclose(logfile);
#endif
/* End */
if(found_path) {
return 1;
} else {
return 0;
}
}
/* Function to Smooth out the AI path and remove
* nodes we don't need */
/* Not even close to being finished yet */
void astar_smooth_path(AUTO * autopilot)
{
dllist_node *current, *next, *prev;
float x1, y1, x2, y2;
int degrees;
/* Get the n node off the list */
/* Get the n+1 node off the list */
/* Get bearing from n to n+1 */
/* Get n+2 node off list */
/* Get bearing from n to n+2 node */
/* Compare bearings */
/* If in same direction as previous
* don't need n+1 node */
/* Keep looping till bearing doesn't match */
/* Then reset n node to final node and continue */
return;
}
void auto_destroy_astar_path(AUTO * autopilot)
{
astar_node *temp_astar_node;
/* Make sure there is a path if not quit */
if(!(autopilot->astar_path))
return;
/* There is a path lets kill it */
if(dllist_size(autopilot->astar_path) > 0) {
while (dllist_size(autopilot->astar_path)) {
temp_astar_node =
dllist_remove_node_at_pos(autopilot->astar_path, 1);
free(temp_astar_node);
}
}
/* Finally destroying the path */
dllist_destroy_list(autopilot->astar_path);
autopilot->astar_path = NULL;
}