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fs2open.github.com/code/autopilot/autopilot.cpp
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Goober5000 d68a225582 added fixes for #1415 and #1483, made sure every read_file_text had a corresponding setjmp, and sync'd the parse error messages between HEAD and stable 
git-svn-id: svn://svn.icculus.org/fs2open/trunk/fs2_open@4251 387891d4-d844-0410-90c0-e4c51a9137d3
2015-04-29 18:43:04 +10:00

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// Autopilot.cpp
// Derek Meek
// 4-30-2004
/*
* $Logfile: /Freespace2/code/Autopilot/Autopilot.cpp $
* $Revision: 1.40 $
* $Date: 2007-09-02 02:10:24 $
* $Author: Goober5000 $
*
* $Log: not supported by cvs2svn $
* Revision 1.39 2007/08/04 22:30:01 Goober5000
* fix case-sensitive #include (Linux)
*
* Revision 1.38 2007/08/03 01:35:48 Goober5000
* fix warning
*
* Revision 1.37 2007/07/25 20:44:49 Kazan
* I <3 making stupid bugs (return camera to normal when not using cutscene bars)
*
* Revision 1.36 2007/07/25 14:50:44 Kazan
* two-part autopilot warp, add +No_Cutscene_Bars optional flag to autopilot.tbl
*
* Revision 1.35 2007/07/24 20:30:36 Kazan
* oops
*
* Revision 1.34 2007/07/24 20:17:36 Kazan
* Make asteroid/debris fields interrupt autopilot, add "hazards near" message to autopilot.tbl, add use-nav-cinematics sexp, fix mantis #1441
*
* Revision 1.33 2007/07/24 13:04:10 Kazan
* Resolve Mantis 1281
*
* Revision 1.32 2007/07/23 15:35:40 Kazan
* typo correction in autopilot.tbl
*
* Revision 1.31 2007/07/23 15:16:47 Kazan
* Autopilot upgrades as described, MSVC2005 project fixes
*
* Revision 1.30 2007/03/22 22:14:55 taylor
* get rid of non-standard itoa(), make use of the proper sprintf() instead
*
* Revision 1.29 2006/12/28 00:59:19 wmcoolmon
* WMC codebase commit. See pre-commit build thread for details on changes.
*
* Revision 1.28 2006/11/03 18:45:11 Kazan
* prevent autopilot initialization while player is gliding
*
* Revision 1.27 2006/09/04 09:21:55 Backslash
* Turn off gliding upon activating autopilot
*
* Revision 1.26 2006/09/04 06:06:38 wmcoolmon
* Cover-up a bloody annoying warning
*
* Revision 1.25 2006/07/27 19:17:59 Kazan
* Lock player primaries during autopilot
*
* Revision 1.24 2006/07/26 03:46:04 Kazan
* Resolve Mantis #1011
*
* Revision 1.23 2006/02/25 21:42:31 Goober5000
* fixes from last commit
*
* Revision 1.22 2005/08/23 09:18:08 Goober5000
* ensure init/reset of goals works cleanly
* --Goober5000
*
* Revision 1.21 2005/07/23 16:25:32 Goober5000
* remove an extraneous extern
* --Goober5000
*
* Revision 1.20 2005/07/13 02:30:52 Goober5000
* removed autopilot #define
* --Goober5000
*
* Revision 1.19 2005/04/19 23:03:42 wmcoolmon
* Lock time compression when autopilot is engaged
*
* Revision 1.18 2005/04/05 05:53:14 taylor
* s/vector/vec3d/g, better support for different compilers (Jens Granseuer)
*
* Revision 1.17 2005/03/25 06:57:32 wmcoolmon
* Big, massive, codebase commit. I have not removed the old ai files as the ones I uploaded aren't up-to-date (But should work with the rest of the codebase)
*
* Revision 1.16 2005/03/03 06:05:26 wmcoolmon
* Merge of WMC's codebase. "Features and bugs, making Goober say "Grr!", as release would be stalled now for two months for sure"
*
* Revision 1.15 2005/01/31 23:27:51 taylor
* merge with Linux/OSX tree - p0131-2
*
* Revision 1.14 2004/10/03 21:41:10 Kazan
* Autopilot convergence collision fix for ai_fly_to_ship() and ai_waypoints() -- mathematically expensive, only usable by autopilot
*
* Revision 1.13 2004/09/28 22:51:41 Kazan
* fix autopilot formation bug
*
* Revision 1.12 2004/09/28 19:54:31 Kazan
* | is binary or, || is boolean or - please use the right one
* autopilot velocity ramping biasing
* made debugged+k kill guardianed ships
*
* Revision 1.11 2004/07/29 23:41:21 Kazan
* bugfixes
*
* Revision 1.10 2004/07/27 18:52:10 Kazan
* squished another
*
* Revision 1.9 2004/07/27 18:04:09 Kazan
* i love it when bugs go crunch (autopilot ai fixup)
*
* Revision 1.8 2004/07/26 20:47:24 Kazan
* remove MCD complete
*
* Revision 1.7 2004/07/26 17:54:04 Kazan
* Autopilot system completed -- i am dropping plans for GUI nav map
* Fixed FPS counter during time compression
*
* Revision 1.6 2004/07/25 19:27:51 Kazan
* only disable afterburning during AIM_WAYPOINTS and AIM_FLY_TO_SHIP while AutoPilotEngaged
*
* Revision 1.5 2004/07/25 18:46:28 Kazan
* -fred_no_warn has become -no_warn and applies to both fred and fs2
* added new ai directive (last commit) and disabled afterburners while performing AIM_WAYPOINTS or AIM_FLY_TO_SHIP
* fixed player ship speed bug w/ player-use-ai, now stays in formation correctly and manages speed
* made -radar_reduce ignore itself if no parameter is given (ignoring launcher bug)
*
* Revision 1.4 2004/07/25 00:31:27 Kazan
* i have absolutely nothing to say about that subject
*
* Revision 1.3 2004/07/12 16:32:42 Kazan
* MCD - define _MCD_CHECK to use memory tracking
*
* Revision 1.2 2004/07/01 16:38:18 Kazan
* working on autonav
*
* Revision 1.1 2004/05/07 23:50:14 Kazan
* Sorry Guys!
*
*
*
*
*/
#include "autopilot/autopilot.h"
#include "ai/ai.h"
#include "ai/aigoals.h"
#include "ship/ship.h"
#include "object/object.h"
#include "object/objcollide.h"
#include "parse/sexp.h"
#include "freespace2/freespace.h"
#include "globalincs/linklist.h"
#include "iff_defs/iff_defs.h"
#include "object/waypoint/waypoint.h"
#include "sound/audiostr.h"
#include "mission/missiontraining.h"
#include "mission/missionmessage.h"
#include "io/timer.h"
#include "gamesnd/eventmusic.h"
#include "cfile/cfile.h"
#include "parse/parselo.h"
#include "globalincs/def_files.h"
#include "localization/localize.h"
#include "camera/camera.h"
#include "asteroid/asteroid.h"
// Extern functions/variables
extern int Player_use_ai;
extern int get_wing_index(object *objp, int wingnum);
extern object * get_wing_leader(int wingnum);
// Module variables
bool AutoPilotEngaged;
bool UseCutsceneBars;
int CurrentNav;
float ramp_bias;
NavPoint Navs[MAX_NAVPOINTS];
NavMessage NavMsgs[NP_NUM_MESSAGES];
int audio_handle;
int NavLinkDistance;
// time offsets for autonav events
int LockAPConv;
int EndAPCinematic;
bool CinematicStarted;
vec3d cameraPos;
// used for ramping time compression;
int start_dist;
// ********************************************************************************************
void autopilot_ai_waypoint_goal_fixup(ai_goal* aigp)
{
// this function sets wp_index properly;
for (int i = 0; i < Num_waypoint_lists; i++)
{
if (!stricmp(aigp->ship_name, Waypoint_lists[i].name))
{
aigp->wp_index = i;
return;
}
}
}
// ********************************************************************************************
bool Sel_NextNav()
{
if (AutoPilotEngaged)
return false;
int i;
if (CurrentNav == -1)
{
for (i = 0; i < MAX_NAVPOINTS; i++)
{
if (Navs[i].flags & NP_VALIDTYPE && !(Navs[i].flags & NP_NOSELECT))
{
CurrentNav=i;
return true;
}
}
}
else
{
for (i = CurrentNav+1; i < MAX_NAVPOINTS+CurrentNav; i++)
{
if (Navs[i%MAX_NAVPOINTS].flags & NP_VALIDTYPE && !(Navs[i%MAX_NAVPOINTS].flags & NP_NOSELECT))
{
if (i != CurrentNav)
{
CurrentNav=i%MAX_NAVPOINTS;
return true;
}
}
}
}
return false;
}
// ********************************************************************************************
vec3d *NavPoint::GetPosition()
{
if (flags & NP_WAYPOINT)
{
return &((waypoint_list*) target_obj)->waypoints[waypoint_num-1];
}
else
{
return &Objects[((ship*) target_obj)->objnum].pos;
}
}
char* NavPoint::GetInteralName()
{
char *NavName;
char strtmp[33];
if (flags & NP_WAYPOINT)
{
NavName = new char[strlen(((waypoint_list*)target_obj)->name)+5];
memset(NavName, 0, strlen(((waypoint_list*)target_obj)->name)+5);
strcpy(NavName, ((waypoint_list*)target_obj)->name);
strcat(NavName, ":");
sprintf(strtmp, "%d", waypoint_num);
strcat(NavName, strtmp);
}
else
{
NavName = new char[strlen(((ship*)target_obj)->ship_name)+1];
memset(NavName, 0, strlen(((ship*)target_obj)->ship_name)+1);
strcpy(NavName, ((ship*)target_obj)->ship_name);
}
return NavName;
}
// ********************************************************************************************
// Tell us if autopilot is allowed
// This needs:
// * Nav point selected
// * No enemies within X distance
// * Destination > 1,000 meters away
bool CanAutopilot(bool send_msg)
{
if (CurrentNav == -1)
{
if (send_msg)
send_autopilot_msgID(NP_MSG_FAIL_NOSEL);
return false;
}
if (object_get_gliding(Player_obj))
{
if (send_msg)
send_autopilot_msgID(NP_MSG_FAIL_GLIDING);
return false;
}
// You cannot autopilot if you're within 1000 meters of your destination nav point
if (vm_vec_dist_quick(&Player_obj->pos, Navs[CurrentNav].GetPosition()) < 1000)
{
if (send_msg)
send_autopilot_msgID(NP_MSG_FAIL_TOCLOSE);
return false;
}
// see if any hostiles are nearby
for (ship_obj *so = GET_FIRST(&Ship_obj_list); so != END_OF_LIST(&Ship_obj_list); so = GET_NEXT(so))
{
object *other_objp = &Objects[so->objnum];
// attacks player?
if (iff_x_attacks_y(obj_team(other_objp), obj_team(Player_obj)))
{
// Cannot autopilot if enemy within 5,000 meters
if (vm_vec_dist_quick(&Player_obj->pos, &other_objp->pos) < 5000)
{
if (send_msg)
send_autopilot_msgID(NP_MSG_FAIL_HOSTILES);
return false;
}
}
}
//check for asteroids
for (int n=0; n<MAX_ASTEROIDS; n++)
{
// asteroid
if (Asteroids[n].flags & AF_USED)
{
// Cannot autopilot if asteroid within 1,000 meters
if (vm_vec_dist_quick(&Player_obj->pos, &Objects[Asteroids[n].objnum].pos) < 1000)
{
if (send_msg)
send_autopilot_msgID(NP_MSG_FAIL_HAZARD);
return false;
}
}
}
return true;
}
// ********************************************************************************************
// Tell us if autopilot is allowed at a certain position (only performs checks based on that position)
// This needs:
// * Nav point selected
// * No enemies within X distance
// * Destination > 1,000 meters away
bool CanAutopilotPos(vec3d targetPos)
{
// You cannot autopilot if you're within 1000 meters of your destination nav point
if (vm_vec_dist_quick(&targetPos, Navs[CurrentNav].GetPosition()) < 1000)
return false;
// see if any hostiles are nearby
for (ship_obj *so = GET_FIRST(&Ship_obj_list); so != END_OF_LIST(&Ship_obj_list); so = GET_NEXT(so))
{
object *other_objp = &Objects[so->objnum];
// attacks player?
if (iff_x_attacks_y(obj_team(other_objp), obj_team(Player_obj)))
{
// Cannot autopilot if enemy within 5,000 meters
if (vm_vec_dist_quick(&targetPos, &other_objp->pos) < 5000)
return false;
}
}
//check for asteroids
for (int n=0; n<MAX_ASTEROIDS; n++)
{
// asteroid
if (Asteroids[n].flags & AF_USED)
{
// Cannot autopilot if asteroid within 1,000 meters
if (vm_vec_dist_quick(&targetPos, &Objects[Asteroids[n].objnum].pos) < 1000)
return false;
}
}
return true;
}
// ********************************************************************************************
// Engages autopilot
// This does:
// * Control switched from player to AI
// * Time compression to 32x
// * Lock time compression -WMC
// * Turn off gliding -Backslash
// * Lock primary/secondary weapons
// * Tell AI to fly to targetted Nav Point (for all nav-status wings/ships)
// * Sets max waypoint speed to the best-speed of the slowest ship tagged
void StartAutopilot()
{
if (!CanAutopilot())
return;
AutoPilotEngaged = true;
if (The_mission.flags & MISSION_FLAG_USE_AP_CINEMATICS)
LockAPConv = timestamp(); // lock convergence instantly
else
LockAPConv = timestamp(3000); // 3 seconds before we lock convergence
Player_use_ai = 1;
set_time_compression(1);
lock_time_compression(true);
// determine speed cap
int i,j, wcount=1;
float speed_cap = 1000000.0; // 1m is a safe starting point
float radius = Player_obj->radius;
// vars for usage w/ cinematic
vec3d pos, norm1, perp, tpos, rpos = Player_obj->pos, zero;
memset(&zero, 0, sizeof(vec3d));
// instantly turn player toward tpos
if (The_mission.flags & MISSION_FLAG_USE_AP_CINEMATICS)
{
vm_vec_sub(&norm1, Navs[CurrentNav].GetPosition(), &Player_obj->pos);
vm_vector_2_matrix(&Player_obj->orient, &norm1, NULL, NULL);
}
for (i = 0; i < MAX_SHIPS; i++)
{
if (Ships[i].objnum != -1 &&
(Ships[i].flags2 & SF2_NAVPOINT_CARRY ||
(Ships[i].wingnum != -1 && Wings[Ships[i].wingnum].flags & WF_NAV_CARRY)
)
)
{
if (speed_cap > vm_vec_mag(&Ship_info[Ships[i].ship_info_index].max_vel))
speed_cap = vm_vec_mag(&Ship_info[Ships[i].ship_info_index].max_vel);
}
}
// damp speed_cap to 90% of actual -- to make sure ships stay in formation
if (The_mission.flags & MISSION_FLAG_USE_AP_CINEMATICS)
speed_cap = 0.90f * speed_cap;
ramp_bias = speed_cap/50.0f;
// assign ship goals
// when assigning goals to individual ships only do so if Ships[shipnum].wingnum != -1
// we will assign wing goals below
for (i = 0; i < MAX_SHIPS; i++)
{
if (Ships[i].objnum != -1 &&
(Ships[i].flags2 & SF2_NAVPOINT_CARRY ||
(Ships[i].wingnum != -1 && Wings[Ships[i].wingnum].flags & WF_NAV_CARRY)
)
)
{
// turn off glide
if (object_get_gliding(&Objects[Ships[i].objnum]))
object_set_gliding(&Objects[Ships[i].objnum], false);
// check for bigger radius for usage later
/*if (!vm_vec_cmp(&rpos, &Player_obj->pos))
// want to make sure rpos isn't player pos - we can worry about it being largest object's later
{
rpos = Objects[Ships[i].objnum].pos;
}*/
if (Objects[Ships[i].objnum].radius > radius)
{
rpos = Objects[Ships[i].objnum].pos;
radius = Objects[Ships[i].objnum].radius;
}
if (The_mission.flags & MISSION_FLAG_USE_AP_CINEMATICS)
{// instantly turn the ship to match the direction player is looking
//vm_vec_sub(&norm1, Navs[CurrentNav].GetPosition(), &Player_obj->pos);
vm_vector_2_matrix(&Objects[Ships[i].objnum].orient, &norm1, NULL, NULL);
}
// snap wings into formation them into formation
if (The_mission.flags & MISSION_FLAG_USE_AP_CINEMATICS && // only if using cinematics
(Ships[i].wingnum != -1 && Wings[Ships[i].wingnum].flags & WF_NAV_CARRY) // only if in a wing
&& Player_obj != &Objects[Ships[i].objnum]) //only if not player object
{
ai_info *aip = aip = &Ai_info[Ships[i].ai_index];
int wingnum = aip->wing, wing_index = get_wing_index(&Objects[Ships[i].objnum], wingnum);
vec3d goal_point;
object *leader_objp = get_wing_leader(wingnum);
if (leader_objp != &Objects[Ships[i].objnum])
{
// not leader.. get our position relative to leader
get_absolute_wing_pos(&goal_point, leader_objp, wing_index, aip->ai_flags & AIF_FORMATION_OBJECT);
}
else
{
ai_clear_wing_goals(wingnum);
switch (wcount % 2)
{
case 1: // back-left
vm_vec_sub(&perp, &zero, &Player_obj->orient.vec.rvec);
vm_vec_sub(&perp, &perp, &Player_obj->orient.vec.fvec);
vm_vec_normalize(&perp);
vm_vec_scale(&perp, 166.0f*float((wcount+1)/2)); // 166m is supposedly the optimal range according to tolwyn
vm_vec_add(&goal_point, &Player_obj->pos, &perp);
break;
default: //back-right
case 0:
vm_vec_add(&perp, &zero, &Player_obj->orient.vec.rvec);
vm_vec_sub(&perp, &perp, &Player_obj->orient.vec.fvec);
vm_vec_normalize(&perp);
vm_vec_scale(&perp, 166.0f*float(wcount/2));
vm_vec_add(&goal_point, &Player_obj->pos, &perp);
break;
}
wcount++;
}
Objects[Ships[i].objnum].pos = goal_point;
}
// lock primary and secondary weapons
Ships[i].flags2 |= (SF2_PRIMARIES_LOCKED | SF2_SECONDARIES_LOCKED);
// clear the ship goals and cap the waypoint speed
ai_clear_ship_goals(&Ai_info[Ships[i].ai_index]);
Ai_info[Ships[i].ai_index].waypoint_speed_cap = (int)speed_cap;
// if they're not part of a wing set their goal
if (Ships[i].wingnum == -1 || The_mission.flags & MISSION_FLAG_USE_AP_CINEMATICS)
{
if (Navs[CurrentNav].flags & NP_WAYPOINT)
{
ai_add_ship_goal_player( AIG_TYPE_PLAYER_WING, AI_GOAL_WAYPOINTS_ONCE, 0, ((waypoint_list*)Navs[CurrentNav].target_obj)->name, &Ai_info[Ships[i].ai_index] );
//fixup has to wait until after wing goals
}
else
{
ai_add_ship_goal_player( AIG_TYPE_PLAYER_WING, AI_GOAL_FLY_TO_SHIP, 0, ((ship*)Navs[CurrentNav].target_obj)->ship_name, &Ai_info[Ships[i].ai_index] );
}
}
}
}
// assign wing goals
if (!(The_mission.flags & MISSION_FLAG_USE_AP_CINEMATICS))
{
for (i = 0; i < MAX_WINGS; i++)
{
if (Wings[i].flags & WF_NAV_CARRY )
{
//ai_add_ship_goal_player( int type, int mode, int submode, char *shipname, ai_info *aip );
//ai_add_wing_goal_player( AIG_TYPE_PLAYER_WING, AI_GOAL_STAY_NEAR_SHIP, 0, target_shipname, wingnum );
//ai_add_wing_goal_player( AIG_TYPE_PLAYER_WING, AI_GOAL_WAYPOINTS_ONCE, 0, target_shipname, wingnum );
//ai_clear_ship_goals( &(Ai_info[Ships[num].ai_index]) );
ai_clear_wing_goals( i );
if (Navs[CurrentNav].flags & NP_WAYPOINT)
{
ai_add_wing_goal_player( AIG_TYPE_PLAYER_WING, AI_GOAL_WAYPOINTS_ONCE, 0, ((waypoint_list*)Navs[CurrentNav].target_obj)->name, i );
// "fix up" the goal
for (j = 0; j < MAX_AI_GOALS; j++)
{
if (Wings[i].ai_goals[j].ai_mode == AI_GOAL_WAYPOINTS_ONCE ||
Wings[i].ai_goals[j].ai_mode == AIM_WAYPOINTS )
{
autopilot_ai_waypoint_goal_fixup(&(Wings[i].ai_goals[j]));
}
}
}
else
{
ai_add_wing_goal_player( AIG_TYPE_PLAYER_WING, AI_GOAL_FLY_TO_SHIP, 0, ((ship*)Navs[CurrentNav].target_obj)->ship_name, i );
}
}
}
}
// fixup has to go down here because ships are assigned goals during wing goals as well
for (i = 0; i < MAX_SHIPS; i++)
{
if (Ships[i].objnum != -1)
{
if (Ships[i].flags2 & SF2_NAVPOINT_CARRY ||
(Ships[i].wingnum != -1 && Wings[Ships[i].wingnum].flags & WF_NAV_CARRY))
for (j = 0; j < MAX_AI_GOALS; j++)
{
if (Ai_info[Ships[i].ai_index].goals[j].ai_mode == AI_GOAL_WAYPOINTS_ONCE ||
Ai_info[Ships[i].ai_index].goals[j].ai_mode == AIM_WAYPOINTS)
{
autopilot_ai_waypoint_goal_fixup( &(Ai_info[Ships[i].ai_index].goals[j]) );
// formation fixup
//ai_form_on_wing(&Objects[Ships[i].objnum], &Objects[Player_ship->objnum]);
}
}
}
}
start_dist = DistanceTo(CurrentNav);
// ----------------------------- setup cinematic -----------------------------
if (The_mission.flags & MISSION_FLAG_USE_AP_CINEMATICS)
{
tpos = *Navs[CurrentNav].GetPosition();
// determine distance toward nav at which camera will be
vm_vec_sub(&pos, &tpos, &Player_obj->pos);
vm_vec_normalize(&pos);
norm1 = pos;
vm_vec_scale(&pos, 5.0f*speed_cap);
vm_vec_add(&pos, &pos, &Player_obj->pos);
switch (myrand()%16)
// 8 different ways of getting perp points
{
case 1: // down
case 9:
vm_vec_sub(&perp, &zero, &Player_obj->orient.vec.uvec);
break;
case 2: // up
case 10:
perp = Player_obj->orient.vec.uvec;
break;
case 3: // left
case 11:
vm_vec_sub(&perp, &zero, &Player_obj->orient.vec.rvec);
break;
case 4: // up-left
case 12:
vm_vec_sub(&perp, &zero, &Player_obj->orient.vec.rvec);
vm_vec_add(&perp, &perp, &Player_obj->orient.vec.uvec);
break;
case 5: // up-right
case 13:
vm_vec_add(&perp, &zero, &Player_obj->orient.vec.rvec);
vm_vec_add(&perp, &perp, &Player_obj->orient.vec.uvec);
break;
case 6: // down-left
case 14:
vm_vec_sub(&perp, &zero, &Player_obj->orient.vec.rvec);
vm_vec_sub(&perp, &perp, &Player_obj->orient.vec.uvec);
break;
case 7: // down-right
case 15:
vm_vec_add(&perp, &zero, &Player_obj->orient.vec.rvec);
vm_vec_sub(&perp, &perp, &Player_obj->orient.vec.uvec);
break;
default:
case 0: // right
case 8:
perp = Player_obj->orient.vec.rvec;
break;
}
vm_vec_normalize(&perp);
vm_vec_scale(&perp, 2*radius);
vm_vec_add(&cameraPos, &pos, &perp);
}
}
// ********************************************************************************************
// Checks if autopilot should automatically die
// Returns true if:
// * Targetted waypoint < 10,000 meters away
// * Enemy < 10,000 meters
bool Autopilot_AutoDiable()
{
return !CanAutopilot();
}
// ********************************************************************************************
// Disengages autopilot
// this does:
// * Time compression to 1x
// * Delete AI nav goal
// * Control switched from AI to player
void EndAutoPilot()
{
AutoPilotEngaged = false;
set_time_compression(1);
lock_time_compression(false);
Player_use_ai = 0;
//Clear AI Goals
if (CinematicStarted) // clear cinematic if we need to
{
if (UseCutsceneBars)
{
Cutscene_bar_flags &= ~CUB_CUTSCENE;
}
Viewer_mode &= ~VM_FREECAMERA;
hud_set_draw(1);
CinematicStarted = false;
}
// assign ship goals
// when assigning goals to individual ships only do so if Ships[shipnum].wingnum != -1
// we will assign wing goals below
int i,j;
for (i = 0; i < MAX_SHIPS; i++)
{
if (Ships[i].objnum != -1 &&
(
Ships[i].flags2 & SF2_NAVPOINT_CARRY ||
(Ships[i].wingnum != -1 && Wings[Ships[i].wingnum].flags & WF_NAV_CARRY )
)
)
{
//unlock their weaponry
Ships[i].flags2 &= ~(SF2_PRIMARIES_LOCKED | SF2_SECONDARIES_LOCKED);
Ai_info[Ships[i].ai_index].waypoint_speed_cap = -1; // uncap their speed
ai_clear_ship_goals( &(Ai_info[Ships[i].ai_index]) );
if (Ships[i].wingnum != -1)
ai_clear_wing_goals( Ships[i].wingnum );
}
}
// assign wing goals
if (!(The_mission.flags & MISSION_FLAG_USE_AP_CINEMATICS))
{
for (i = 0; i < MAX_WINGS; i++)
{
if (Wings[i].flags & WF_NAV_CARRY )
{
// old "dumb" routine
//ai_clear_wing_goals( i );
for (j = 0; j < MAX_AI_GOALS; j++)
{
if (Wings[i].ai_goals[j].ai_mode == AI_GOAL_WAYPOINTS_ONCE ||
Wings[i].ai_goals[j].ai_mode == AI_GOAL_FLY_TO_SHIP ||
Wings[i].ai_goals[j].ai_mode == AIM_WAYPOINTS ||
Wings[i].ai_goals[j].ai_mode == AIM_FLY_TO_SHIP)
{
Wings[i].ai_goals[j].ai_mode = AI_GOAL_NONE;
Wings[i].ai_goals[j].signature = -1;
Wings[i].ai_goals[j].priority = -1;
Wings[i].ai_goals[j].flags = 0;
}
}
}
}
}
}
// ********************************************************************************************
void camera_face(vec3d &loc)
{
vec3d destvec;
matrix cam_orient;
vm_vec_sub(&destvec, &loc, Free_camera->get_position());
vm_vector_2_matrix(&cam_orient, &destvec, NULL, NULL);
Free_camera->set_rotation(&cam_orient, 0.0f, 0.0f);
}
void nav_warp(bool prewarp=false)
{
// ok... find our end distance - norm1 is still a unit vector in the direction from the player to the navpoint
vec3d targetPos, tpos=Player_obj->pos, pos;
vm_vec_sub(&pos, Navs[CurrentNav].GetPosition(), &Player_obj->pos);
vm_vec_normalize(&pos);
vm_vec_scale(&pos, 250.0f); // we move by increments of 250
while (CanAutopilotPos(tpos))
{
vm_vec_add(&tpos, &tpos, &pos);
}
vm_vec_sub(&targetPos, &tpos, &Player_obj->pos); //targetPos is actually a projection in a the direction toward the nav
if (prewarp)
{
vm_vec_scale(&targetPos, 0.5);
vm_vec_add(&cameraPos, &cameraPos, &targetPos);
}
for (int i = 0; i < MAX_SHIPS; i++)
{
if (Ships[i].objnum != -1 &&
(Ships[i].flags2 & SF2_NAVPOINT_CARRY ||
(Ships[i].wingnum != -1 && Wings[Ships[i].wingnum].flags & WF_NAV_CARRY)
)
)
{
vm_vec_add(&Objects[Ships[i].objnum].pos, &Objects[Ships[i].objnum].pos, &targetPos);
}
}
// retime all collision pairs
obj_all_collisions_retime();
}
// ********************************************************************************************
// Checks for changes every NPS_TICKRATE milliseconds
// Checks:
// * if we've gotten close enough to a nav point for it to be counted as "Visited"
// * If we're current AutoNavigating it checks if we need to autodisengage
void NavSystem_Do()
{
static unsigned int last_update = 0;
if (clock () - last_update > NPS_TICKRATE)
{
if (AutoPilotEngaged)
{
if (The_mission.flags & MISSION_FLAG_USE_AP_CINEMATICS)
{
if (CinematicStarted)
{
// update our cinematic and possibly perform warp
camera_face(Player_obj->pos);
if (timestamp() >= EndAPCinematic || Autopilot_AutoDiable())
{
nav_warp();
EndAutoPilot();
}
}
else
{
// start cinematic
if (UseCutsceneBars)
{
Cutscene_bar_flags |= CUB_CUTSCENE;
Cutscene_bar_flags &= ~CUB_GRADUAL;
}
Viewer_mode |= VM_FREECAMERA;
hud_set_draw(0);
nav_warp(true);
Free_camera->set_position(&cameraPos);
camera_face(Player_obj->pos);
EndAPCinematic = timestamp(10000); // 10 seconds before end of cinematic
CinematicStarted = true;
}
}
else
{
if (Autopilot_AutoDiable())
EndAutoPilot();
}
}
// check if a NavPoints target has left, delete it if so
int i;
for (i = 0; i < MAX_NAVPOINTS; i++)
{
if ((Navs[i].flags & NP_SHIP) && (Navs[i].target_obj != NULL))
{
if (((ship*)Navs[i].target_obj)->objnum == -1)
DelNavPoint(i);
}
}
// check if we're reached a Node
for (i = 0; i < MAX_NAVPOINTS; i++)
{
if (Navs[i].target_obj != NULL)
{
if (Navs[i].flags & NP_VALIDTYPE && DistanceTo(i) < 1000)
Navs[i].flags |= NP_VISITED;
}
}
}
// ramp time compression - only if not using cinematics
if (AutoPilotEngaged && !(The_mission.flags & MISSION_FLAG_USE_AP_CINEMATICS))
{
int dstfrm_start = start_dist - DistanceTo(CurrentNav);
// Ramp UP time compression
if (dstfrm_start < (3500*ramp_bias))
{
if (dstfrm_start >= (3000*ramp_bias) && DistanceTo(CurrentNav) > 30000)
set_time_compression(64);
else if (dstfrm_start >= (2000*ramp_bias))
set_time_compression(32);
else if (dstfrm_start >= (1600*ramp_bias))
set_time_compression(16);
else if (dstfrm_start >= (1200*ramp_bias))
set_time_compression(8);
else if (dstfrm_start >= (800*ramp_bias))
set_time_compression(4);
else if (dstfrm_start >= (400*ramp_bias))
set_time_compression(2);
}
// Ramp DOWN time compression
if (DistanceTo(CurrentNav) <= (7000*ramp_bias))
{
int dist = DistanceTo(CurrentNav);
if (dist >= (5000*ramp_bias))
set_time_compression(32);
else if (dist >= (4000*ramp_bias))
set_time_compression(16);
else if (dist >= (3000*ramp_bias))
set_time_compression(8);
else if (dist >= (2000*ramp_bias))
set_time_compression(4);
else if (dist >= (1000*ramp_bias))
set_time_compression(2);
}
}
// autopilot linking
for (int i = 0; i < MAX_SHIPS; i++)
{
if (Ships[i].objnum != -1 && Ships[i].flags2 & SF2_NAVPOINT_NEEDSLINK)
{
object *other_objp = &Objects[Ships[i].objnum];
if (vm_vec_dist_quick(&Player_obj->pos, &other_objp->pos) < (NavLinkDistance + other_objp->radius))
{
Ships[i].flags2 &= ~SF2_NAVPOINT_NEEDSLINK;
Ships[i].flags2 |= SF2_NAVPOINT_CARRY;
send_autopilot_msgID(NP_MSG_MISC_LINKED);
}
}
}
}
// ********************************************************************************************
void send_autopilot_msgID(int msgid)
{
if (msgid < 0 || msgid > NP_NUM_MESSAGES)
return;
send_autopilot_msg(NavMsgs[msgid].message, NavMsgs[msgid].filename);
}
// ********************************************************************************************
void send_autopilot_msg(char *msg, char *snd)
{
// setup
if (audio_handle != -1)
{
audiostream_close_file(audio_handle, 0);
audio_handle = -1;
}
if (strlen(msg) != 0 && strcmp(msg, "none"))
change_message("autopilot builtin message", msg, -1, 0);
// load sound
if (snd != NULL || strlen(snd) == 0 || !strcmp(snd, "none"))
{
audio_handle = audiostream_open(snd, ASF_MENUMUSIC );
}
// send/play
if (audio_handle != -1)
{
audiostream_play(audio_handle, Master_event_music_volume, 0);
}
if (strlen(msg) != 0 && strcmp(msg, "none"))
message_training_queue("autopilot builtin message", timestamp(0), 5); // display message for five seconds
}
// ********************************************************************************************
// Inits the Nav System
void NavSystem_Init()
{
memset((char *)&Navs, 0, sizeof(Navs));
AutoPilotEngaged = false;
CurrentNav = -1;
audio_handle = -1;
CinematicStarted = false;
UseCutsceneBars = true;
// defaults... can be tabled or bound to mission later
if (cf_exists_full("autopilot.tbl", CF_TYPE_TABLES))
parse_autopilot_table("autopilot.tbl");
else
parse_autopilot_table(NULL);
}
// ********************************************************************************************
void parse_autopilot_table(char *filename)
{
int rval;
std::vector<std::string> lines;
// open localization
lcl_ext_open();
if ((rval = setjmp(parse_abort)) != 0)
{
mprintf(("TABLES: Unable to parse '%s'! Error code = %i.\n", (filename) ? filename : "<default autopilot.tbl>"));
lcl_ext_close();
return;
}
if (filename == NULL)
read_file_text_from_array(defaults_get_file("autopilot.tbl"));
else
read_file_text(filename);
reset_parse();
required_string("#Autopilot");
// autopilot link distance
required_string("$Link Distance:");
stuff_int(&NavLinkDistance);
// optional no cutscene bars
if (optional_string("+No_Cutscene_Bars"))
UseCutsceneBars = false;
// No Nav selected message
char *msg_tags[] = { "$No Nav Selected:", "$Gliding:", "$Too Close:", "$Hostiles:", "$Linked:", "$Hazard:" };
for (int i = 0; i < NP_NUM_MESSAGES; i++)
{
required_string(msg_tags[i]);
required_string("+Msg:");
stuff_string(NavMsgs[i].message, F_MESSAGE, 256);
required_string("+Snd File:");
stuff_string(NavMsgs[i].filename, F_NAME, 256);
}
required_string("#END");
// close localization
lcl_ext_close();
}
// ********************************************************************************************
// Finds a Nav point by name
int FindNav(char *Nav)
{
for (int i = 0; i < MAX_NAVPOINTS; i++)
{
if (!stricmp(Navs[i].NavName, Nav))
return i;
}
return -1;
}
// ********************************************************************************************
// Set A Nav point to "ZERO"
void ZeroNav(int i)
{
memset((char *)&Navs[i], 0, sizeof(NavPoint));
}
// ********************************************************************************************
// Removes a Nav
bool DelNavPoint(char *Nav)
{
int n = FindNav(Nav);
return DelNavPoint(n);
}
bool DelNavPoint(int nav)
{
if (nav != -1)
{
if (nav != MAX_NAVPOINTS-1)
{
for (int i = nav; i < MAX_NAVPOINTS-1; i++)
{
Navs[nav] = Navs[nav+1];
}
}
ZeroNav(MAX_NAVPOINTS-1);
return true;
}
return false;
}
// ********************************************************************************************
// adds a Nav
bool AddNav_Ship(char *Nav, char *TargetName, int flags)
{
// find an empty nav - should be the end
int empty = -1;
int i;
for (i = 0; i < MAX_NAVPOINTS && empty == -1; i++)
{
if (Navs[i].flags == 0)
empty = i;
}
if (empty == -1) // no empty navpoint slots
return false;
// Create the NavPoint struct
NavPoint tnav;
strncpy(tnav.NavName, Nav, 32);
tnav.flags = NP_SHIP | flags;
Assert(!(tnav.flags & NP_WAYPOINT));
for (i = 0; i < MAX_SHIPS; i++)
{
if (Ships[i].objnum != -1 && !stricmp(TargetName, Ships[i].ship_name))
{
tnav.target_obj = (void *)&Ships[i];
}
}
tnav.waypoint_num = 0; // unused for NP_SHIP
// copy it into it's location
Navs[empty] = tnav;
return true;
}
bool AddNav_Waypoint(char *Nav, char *WP_Path, int node, int flags)
{
// find an empty nav - should be the end
int empty = -1;
int i;
if (node == 0)
node = 1;
for (i = 0; i < MAX_NAVPOINTS && empty == -1; i++)
{
if (Navs[i].flags == 0)
empty = i;
}
if (empty == -1) // no empty navpoint slots
return false;
// Create the NavPoint struct
NavPoint tnav;
strncpy(tnav.NavName, Nav, 32);
tnav.flags = NP_WAYPOINT | flags;
Assert(!(tnav.flags & NP_SHIP));
for (i = 0; i < Num_waypoint_lists; i++)
{
if (!stricmp(WP_Path, Waypoint_lists[i].name))
{
tnav.target_obj = (void *)&Waypoint_lists[i];
}
}
tnav.waypoint_num = node;
// copy it into it's location
Navs[empty] = tnav;
return true;
}
// ********************************************************************************************
//Change Flags
bool Nav_Alt_Flags(char *Nav, int flags)
{
flags &= ~NP_VALIDTYPE; //clear the NP_SHIP and NP_WAYPOINT bits, make sure they haven't been set
int nav = FindNav(Nav);
if (nav != -1)
{
Navs[nav].flags &= NP_VALIDTYPE; // Clear all bits BUT NP_SHIP or NO_WAYPOINT
Navs[nav].flags |= flags; // merge
}
return (nav != -1);
}
//Get Flags
int Nav_Get_Flags(char *Nav)
{
int flags = 0;
int nav = FindNav(Nav);
if (nav != -1)
flags = Navs[nav].flags;
return flags;
}
// ********************************************************************************************
// Sexp Accessors
//Generic
bool Nav_Set_Flag(char *Nav, int flag)
{
Assert(!(flag & NP_VALIDTYPE));
int nav = FindNav(Nav);
if (nav != -1)
{
Navs[nav].flags |= flag;
return true;
}
return false;
}
//+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
bool Nav_UnSet_Flag(char *Nav, int flag)
{
Assert(!(flag & NP_VALIDTYPE));
int nav = FindNav(Nav);
if (nav != -1)
{
Navs[nav].flags &= ~flag;
return true;
}
return false;
}
//+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
//Named
bool Nav_Set_Hidden(char *Nav)
{
return Nav_Set_Flag(Nav, NP_HIDDEN);
}
//+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
bool Nav_Set_NoAccess(char *Nav)
{
return Nav_Set_Flag(Nav, NP_NOACCESS);
}
//+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
bool Nav_Set_Visited(char *Nav)
{
return Nav_Set_Flag(Nav, NP_VISITED);
}
//+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
bool Nav_UnSet_Hidden(char *Nav)
{
return Nav_UnSet_Flag(Nav, NP_HIDDEN);
}
//+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
bool Nav_UnSet_NoAccess(char *Nav)
{
return Nav_UnSet_Flag(Nav, NP_NOACCESS);
}
//+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
bool Nav_UnSet_Visited(char *Nav)
{
return Nav_UnSet_Flag(Nav, NP_VISITED);
}
//+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
unsigned int DistanceTo(char *nav)
{
int n = FindNav(nav);
return DistanceTo(n);
}
unsigned int DistanceTo(int nav)
{
if (nav > MAX_NAVPOINTS && nav < 0)
return 0xFFFFFFFF;
//WMC - Get rid of this bloody warning. Yes, we're casting to a uint.
//Deal with it.
return (uint)vm_vec_dist_quick(&Player_obj->pos, Navs[nav].GetPosition());
}
//+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
bool IsVisited(char *nav)
{
int n = FindNav(nav);
return IsVisited(n);
}
bool IsVisited(int nav)
{
if (nav > MAX_NAVPOINTS && nav < 0)
return 0;
if (Navs[nav].flags & NP_VISITED)
return 1;
return 0;
}
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