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heli AI fix

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This commit is contained in:
Nikolay Korolev 2020-06-12 22:38:37 +03:00
parent 9ab3683148
commit 17dd26e1ca
2 changed files with 19 additions and 18 deletions
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35
src/control/CarCtrl.cpp
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@ -2645,7 +2645,7 @@ void CCarCtrl::SteerAIHeliTowardsTargetCoors(CAutomobile* pHeli)
{ {
if (pHeli->m_aWheelSpeed[1] < 0.22f) if (pHeli->m_aWheelSpeed[1] < 0.22f)
pHeli->m_aWheelSpeed[1] += 0.001f; pHeli->m_aWheelSpeed[1] += 0.001f;
if (pHeli->m_aWheelSpeed[1] < 0.22f) if (pHeli->m_aWheelSpeed[1] < 0.15f)
return; return;
CVector2D vecToTarget = pHeli->AutoPilot.m_vecDestinationCoors - pHeli->GetPosition(); CVector2D vecToTarget = pHeli->AutoPilot.m_vecDestinationCoors - pHeli->GetPosition();
float distanceToTarget = vecToTarget.Magnitude(); float distanceToTarget = vecToTarget.Magnitude();
@ -2654,7 +2654,8 @@ void CCarCtrl::SteerAIHeliTowardsTargetCoors(CAutomobile* pHeli)
#else #else
float speed = pHeli->AutoPilot.m_nCruiseSpeed * 0.01f; float speed = pHeli->AutoPilot.m_nCruiseSpeed * 0.01f;
#endif #endif
if (distanceToTarget >= 100.0f) float tmp = speed;
if (distanceToTarget <= 100.0f)
{ {
if (distanceToTarget > 75.0f) if (distanceToTarget > 75.0f)
speed *= 0.7f; speed *= 0.7f;
@ -2668,34 +2669,33 @@ void CCarCtrl::SteerAIHeliTowardsTargetCoors(CAutomobile* pHeli)
float resistance = Pow(0.997f, CTimer::GetTimeStep()); float resistance = Pow(0.997f, CTimer::GetTimeStep());
pHeli->m_vecMoveSpeed.x *= resistance; pHeli->m_vecMoveSpeed.x *= resistance;
pHeli->m_vecMoveSpeed.y *= resistance; pHeli->m_vecMoveSpeed.y *= resistance;
vecAdvanceThisFrame -= pHeli->m_vecMoveSpeed; CVector2D vecSpeedDirection = vecAdvanceThisFrame - pHeli->m_vecMoveSpeed;
CVector2D vecSpeedChange = vecAdvanceThisFrame - pHeli->m_vecMoveSpeed; float vecSpeedChangeLength = vecSpeedDirection.Magnitude();
float vecSpeedChangeLength = vecSpeedChange.Magnitude(); vecSpeedDirection.Normalise();
vecSpeedChange.Normalise();
float changeMultiplier = 0.002f * CTimer::GetTimeStep(); float changeMultiplier = 0.002f * CTimer::GetTimeStep();
if (distanceToTarget < 5.0f) if (distanceToTarget < 5.0f)
changeMultiplier /= 5.0f; changeMultiplier /= 5.0f;
if (vecSpeedChangeLength < changeMultiplier) if (vecSpeedChangeLength < changeMultiplier)
pHeli->AddToMoveSpeed(vecAdvanceThisFrame); pHeli->SetMoveSpeed(vecAdvanceThisFrame.x, vecAdvanceThisFrame.y, pHeli->GetMoveSpeed().z);
else else
pHeli->AddToMoveSpeed(vecSpeedChange * changeMultiplier); pHeli->AddToMoveSpeed(vecSpeedDirection * changeMultiplier);
pHeli->SetPosition(pHeli->GetPosition() + CVector(CTimer::GetTimeStep() * pHeli->GetMoveSpeed().x, CTimer::GetTimeStep() * pHeli->GetMoveSpeed().y, 0.0f)); pHeli->GetMatrix().Translate(CTimer::GetTimeStep() * pHeli->GetMoveSpeed().x, CTimer::GetTimeStep() * pHeli->GetMoveSpeed().y, 0.0f);
float ZTarget = pHeli->AutoPilot.m_vecDestinationCoors.z; float ZTarget = pHeli->AutoPilot.m_vecDestinationCoors.z;
if (CTimer::GetTimeInMilliseconds() & 0x800) // switch every ~2 seconds if (CTimer::GetTimeInMilliseconds() & 0x800) // switch every ~2 seconds
ZTarget += 2.0f; ZTarget += 2.0f;
float ZSpeedTarget = (ZTarget - pHeli->GetPosition().z) * 0.01f; float ZSpeedTarget = (ZTarget - pHeli->GetPosition().z) * 0.01f;
float ZSpeedChangeTarget = ZSpeedTarget - pHeli->GetMoveSpeed().z; float ZSpeedChangeTarget = ZSpeedTarget - pHeli->GetMoveSpeed().z;
float ZSpeedChangeMax = 0.01f * CTimer::GetTimeStep(); float ZSpeedChangeMax = 0.001f * CTimer::GetTimeStep();
if (!pHeli->bHeliDestroyed) { if (!pHeli->bHeliDestroyed) {
if (Abs(ZSpeedChangeTarget) < ZSpeedChangeMax) if (Abs(ZSpeedChangeTarget) < ZSpeedChangeMax)
pHeli->SetMoveSpeed(pHeli->GetMoveSpeed().x, pHeli->GetMoveSpeed().y, ZSpeedTarget); pHeli->SetMoveSpeed(pHeli->GetMoveSpeed().x, pHeli->GetMoveSpeed().y, ZSpeedTarget);
else if (ZSpeedChangeTarget < 0.0f) else if (ZSpeedChangeTarget < 0.0f)
pHeli->AddToMoveSpeed(0.0f, 0.0f, -1.5f * ZSpeedChangeMax); pHeli->AddToMoveSpeed(0.0f, 0.0f, -ZSpeedChangeMax);
else else
pHeli->AddToMoveSpeed(0.0f, 0.0f, ZSpeedChangeMax); pHeli->AddToMoveSpeed(0.0f, 0.0f, 1.5f * ZSpeedChangeMax);
} }
pHeli->SetPosition(pHeli->GetPosition() + CVector(0.0f, 0.0f, CTimer::GetTimeStep() * pHeli->GetMoveSpeed().z)); pHeli->GetMatrix().Translate(0.0f, 0.0f, CTimer::GetTimeStep() * pHeli->GetMoveSpeed().z);
pHeli->SetTurnSpeed(pHeli->GetTurnSpeed().x, pHeli->GetTurnSpeed().y, pHeli->GetTurnSpeed().z * Pow(0.99f, CTimer::GetTimeStep())); pHeli->m_vecTurnSpeed.z *= Pow(0.99f, CTimer::GetTimeStep());
float ZTurnSpeedTarget; float ZTurnSpeedTarget;
if (distanceToTarget < 8.0f && pHeli->m_fHeliOrientation < 0.0f) if (distanceToTarget < 8.0f && pHeli->m_fHeliOrientation < 0.0f)
ZTurnSpeedTarget = 0.0f; ZTurnSpeedTarget = 0.0f;
@ -2703,6 +2703,7 @@ void CCarCtrl::SteerAIHeliTowardsTargetCoors(CAutomobile* pHeli)
float fAngleTarget = CGeneral::GetATanOfXY(vecToTarget.x, vecToTarget.y) + PI; float fAngleTarget = CGeneral::GetATanOfXY(vecToTarget.x, vecToTarget.y) + PI;
if (pHeli->m_fHeliOrientation >= 0.0f) if (pHeli->m_fHeliOrientation >= 0.0f)
fAngleTarget = pHeli->m_fHeliOrientation; fAngleTarget = pHeli->m_fHeliOrientation;
fAngleTarget -= pHeli->m_fOrientation;
while (fAngleTarget < -PI) while (fAngleTarget < -PI)
fAngleTarget += TWOPI; fAngleTarget += TWOPI;
while (fAngleTarget > PI) while (fAngleTarget > PI)
@ -2710,9 +2711,9 @@ void CCarCtrl::SteerAIHeliTowardsTargetCoors(CAutomobile* pHeli)
if (Abs(fAngleTarget) <= 0.4f) if (Abs(fAngleTarget) <= 0.4f)
ZTurnSpeedTarget = 0.0f; ZTurnSpeedTarget = 0.0f;
else if (fAngleTarget < 0.0f) else if (fAngleTarget < 0.0f)
ZTurnSpeedTarget = 0.03f;
else
ZTurnSpeedTarget = -0.03f; ZTurnSpeedTarget = -0.03f;
else
ZTurnSpeedTarget = 0.03f;
} }
float ZTurnSpeedChangeTarget = ZTurnSpeedTarget - pHeli->GetTurnSpeed().z; float ZTurnSpeedChangeTarget = ZTurnSpeedTarget - pHeli->GetTurnSpeed().z;
float ZTurnSpeedLimit = 0.0002f * CTimer::GetTimeStep(); float ZTurnSpeedLimit = 0.0002f * CTimer::GetTimeStep();
@ -2729,7 +2730,7 @@ void CCarCtrl::SteerAIHeliTowardsTargetCoors(CAutomobile* pHeli)
else else
up = CVector(3.0f * pHeli->GetMoveSpeed().x, 3.0f * pHeli->GetMoveSpeed().y, 1.0f); up = CVector(3.0f * pHeli->GetMoveSpeed().x, 3.0f * pHeli->GetMoveSpeed().y, 1.0f);
up.Normalise(); up.Normalise();
CVector forward(Sin(pHeli->m_fOrientation), Cos(pHeli->m_fOrientation), 0.0f); CVector forward(Cos(pHeli->m_fOrientation), Sin(pHeli->m_fOrientation), 0.0f);
CVector right = CrossProduct(up, forward); CVector right = CrossProduct(up, forward);
forward = CrossProduct(up, right); forward = CrossProduct(up, right);
pHeli->GetMatrix().GetRight() = right; pHeli->GetMatrix().GetRight() = right;

2
src/vehicles/Automobile.cpp
View file

@ -5566,7 +5566,7 @@ CAutomobile::TellHeliToGoToCoors(float x, float y, float z, uint8 speed)
SetStatus(STATUS_PHYSICS); SetStatus(STATUS_PHYSICS);
if(m_fOrientation == 0.0f){ if(m_fOrientation == 0.0f){
m_fOrientation = CGeneral::GetATanOfXY(GetForward().x, GetForward().y) + TWOPI; m_fOrientation = CGeneral::GetATanOfXY(GetForward().x, GetForward().y) + PI;
while(m_fOrientation > TWOPI) m_fOrientation -= TWOPI; while(m_fOrientation > TWOPI) m_fOrientation -= TWOPI;
} }
} }