Orders::ChangeHeading Class Reference

#include <navigation.h>

Inheritance diagram for Orders::ChangeHeading:

Public Member Functions
	ChangeHeading (const QVector &final_heading, int switchback, float turning_speed=1, bool term=false)
	takes in the destination target, and the ammount of accuracy (how many times it should miss destination and come back) should be used More...
void	SetDest (const QVector &)
virtual void	Execute ()
	The function that gets called and executes all queued suborders. More...
virtual string	getOrderDescription ()
virtual	~ChangeHeading ()
Public Member Functions inherited from Order
virtual void	ChooseTarget ()
	this function calls the destructor (needs to be overridden for python; More...
virtual bool	PursueTarget (Unit *, bool isleader)
void	ClearMessages ()
	clears the messasges of this order More...
	Order ()
	The default constructor setting everything to NULL and no dependency on order. More...
	Order (int type, int subtype)
	The constructor that specifies what order dependencies this order has. More...
virtual void	Destroy ()
	The virutal function that unrefs all memory then calls Destruct () which takes care of unreffing this or calling delete on this. More...
Order *	queryType (unsigned int type)
	returns a pointer to the first order that may be bitwised ored with that type More...
Order *	queryAny (unsigned int type)
	returns a pointer to the first order that may be bitwise ored with any type More...
void	eraseType (unsigned int type)
	Erases all orders that bitwise OR with that type. More...
bool	AttachOrder (Unit *targets)
	Attaches a group of targets to this order (used for strategery-type games) More...
bool	AttachOrder (QVector target)
	Attaches a navigation point to this order. More...
bool	AttachSelfOrder (Unit *targets)
	Attaches a group (form up) to this order. More...
Order *	EnqueueOrder (Order *ord)
	Enqueues another order that will be executed (in parallel perhaps) when next void Execute() is called. More...
Order *	ReplaceOrder (Order *ord)
	Replaces the first order of that type in the order queue. More...
bool	Done ()
int	getType ()
int	getSubType ()
virtual void	SetParent (Unit *parent1)
	Sets the parent of this Unit. Any virtual functions must call this one. More...
Unit *	GetParent () const
virtual void	Communicate (const class CommunicationMessage &c)
	Sends a communication message from the Unit (encapulated in c) to this unit. More...
virtual void	ProcessCommMessage (class CommunicationMessage &c)
	processes a single message...generally called by the Messages() func More...
virtual void	ProcessCommunicationMessages (float CommRepsonseTime, bool RemoveMessageProcessed)
	responds (or does not) to certain messages in the message queue More...
Order *	findOrder (Order *ord)
	return pointer to order or NULL if not found More...
void	eraseOrder (Order *ord)
	erase that order from the list More...
Order *	EnqueueOrderFirst (Order *ord)
	enqueue order as first order More...
virtual olist_t *	getOrderList ()
	returns the orderlist (NULL for orders that haven't got any) More...
virtual void	AdjustRelationTo (Unit *un, float factor)
Order *	findOrderList ()
	searches the suborders recursively for the first order that has an orderlist More...
std::string	createFullOrderDescription (int level=0)
void	setActionString (std::string astring)
std::string	getActionString ()
virtual float	getMood ()

Protected Member Functions
void	ResetDone ()
Protected Member Functions inherited from Order
virtual	~Order ()
virtual void	Destructor ()
	changes the local relation of this unit to another...may inform superiors about "good" or bad! behavior depending on the AI More...

Additional Inherited Members
Public Types inherited from Order
enum	ORDERTYPES {   MOVEMENT =1, FACING =2, WEAPON =4, CLOAKING =8,   ALLTYPES =(1|2|4|8) }
	The varieties of order types MOVEMENT,FACING, and WEAPON orders may not be mutually executed (lest one engine goes left, the other right) More...
enum	SUBORDERTYPES { SLOCATION =1, STARGET =2, SSELF =4 }
Protected Attributes inherited from Order
Unit *	parent
	The unit this order is attached to. More...
unsigned int	type
	The bit code (from ORDERTYPES) that this order is (for parallel execution) More...
unsigned int	subtype
bool	done
	Whether or not this order is done. More...
UnitContainer	group
	If this order applies to a group of units (as in form up with this group) More...
QVector	targetlocation
	If this order applies to a physical location in world space. More...
std::vector< Order * >	suborders
	The queue of suborders that will be executed in parallel according to bit code. More...
std::list< class CommunicationMessage * >	messagequeue
	a bunch of communications that have not been answered CommunicationMessages are actually containing reference to a nice Finite State Machine that can allow a player to have a reasonable conversation with an AI More...
std::string	actionstring

Detailed Description

This AI script attempts to change headings to face a given direction again it is inaccurate to within 1 physics frame, though calculating thrust at 1/3 the way through a physics frame has made this effect of wobbling all but subside! switchbacks keep track of how many times it has almost but passed over target destination

Definition at line 80 of file navigation.h.

Constructor & Destructor Documentation

Orders::ChangeHeading::ChangeHeading ( const QVector &  final_heading, int  switchback, float  turning_speed = 1, bool  term = false  )

inline

takes in the destination target, and the ammount of accuracy (how many times it should miss destination and come back) should be used

Definition at line 101 of file navigation.h.

                                                                                                              : Order( FACING,
                                                                                                                       SLOCATION )
        , turningspeed( turning_speed )
        , switchbacks( switchback )
        , terminatingX( 0 )
        , terminatingY( 0 )
        , last_velocity( 0, 0, 0 )
        , final_heading( final_heading )
        , terminating( term ) {}

ChangeHeading::~ChangeHeading ( )

virtual

Definition at line 363 of file navigation.cpp.

References VSFileSystem::vs_fprintf().

{
#ifdef ORDERDEBUG
    VSFileSystem::vs_fprintf( stderr, "ch%x", this );
    fflush( stderr );
#endif
}

Member Function Documentation

void ChangeHeading::Execute ( )

virtual

The function that gets called and executes all queued suborders.

Reimplemented from Order.

Reimplemented in Orders::FacePerpendicular, Orders::LoopAroundAgro, Orders::LoopAround, Orders::FaceDirection, Orders::FaceTargetITTS, Orders::AutoLongHaul, Orders::FaceTarget, and Orders::TurretAI.

Definition at line 281 of file navigation.cpp.

References Unit::ApplyLocalTorque(), Order::done, Order::Done(), Order::Execute(), Unit::GetAngularVelocity(), Unit::GetComputerData(), Unit::GetMass(), Unit::GetMoment(), Unit::GetOrientation(), VegaConfig::getVariable(), Unit::isSubUnit(), Unit::Limits(), Unit::Computer::max_pitch_down, Unit::Computer::max_pitch_up, Unit::Computer::max_yaw_left, Unit::Computer::max_yaw_right, XMLSupport::parse_bool(), XMLSupport::parse_float(), PI, Unit::Limits::pitch, Unit::Position(), R, Unit::SetAngularVelocity(), Unit::SetOrientation(), SIMULATION_ATOM, Unit::ToLocalCoordinates(), Unit::UpCoordinateLevel(), Vector, vs_config, and Unit::Limits::yaw.

Referenced by Orders::FaceTarget::Execute(), Orders::AutoLongHaul::Execute(), Orders::FaceTargetITTS::Execute(), Orders::FaceDirection::Execute(), Orders::LoopAround::Execute(), Orders::LoopAroundAgro::Execute(), and Orders::FacePerpendicular::Execute().

{
    bool   temp    = done;
    Order::Execute();
    done = temp;
    Vector ang_vel = parent->GetAngularVelocity();
    Vector local_velocity( parent->UpCoordinateLevel( ang_vel ) );
    Vector local_heading( parent->ToLocalCoordinates( ( final_heading-parent->Position() ).Cast() ) );
    char   xswitch =
        ( (local_heading.i > 0) != (last_velocity.i > 0) || (!local_heading.i) ) && last_velocity.i != 0 ? 1 : 0;
    char   yswitch =
        ( (local_heading.j > 0) != (last_velocity.j > 0) || (!local_heading.j) ) && last_velocity.j != 0 ? 1 : 0;
    static bool AICheat = XMLSupport::parse_bool( vs_config->getVariable( "AI", "turn_cheat", "true" ) );
    bool   cheater = false;
    static float min_for_no_oversteer = XMLSupport::parse_float( vs_config->getVariable( "AI", "min_angular_accel_cheat", "50" ) );
    if ( AICheat && ( (parent->Limits().yaw+parent->Limits().pitch)*180/( PI*parent->GetMass() ) > min_for_no_oversteer )
        && !parent->isSubUnit() ) {
        if (xswitch || yswitch) {
            Vector P, Q, R;
            parent->GetOrientation( P, Q, R );
            Vector desiredR = ( final_heading-parent->Position() ).Cast();
            desiredR.Normalize();
            static float cheatpercent = XMLSupport::parse_float( vs_config->getVariable( "AI", "ai_cheat_dot", ".99" ) );
            if (desiredR.Dot( R ) > cheatpercent) {
                P = Q.Cross( desiredR );
                Q = desiredR.Cross( P );
                parent->SetOrientation( Q, desiredR );
                xswitch = yswitch = 1;
                if (xswitch) {
                    if (yswitch) {
                        local_velocity.j = .0f;
                        local_velocity.i = .0f;
                        ang_vel.i = .0f;
                        ang_vel.j = .0f;
                    } else {
                        local_velocity.i = .0f;
                        ang_vel.i = .0f;
                    }
                } else if (yswitch) {
                    local_velocity.j = .0f;
                    ang_vel.j = .0f;
                }
                cheater   = true;
                ang_vel.k = local_velocity.k = 0;
                parent->SetAngularVelocity( ang_vel );
            }
        }
    }
    terminatingX += xswitch;
    terminatingY += yswitch;
    last_velocity = local_velocity;
    if (done /*||(xswitch&&yswitch)*/)
        return;
    Vector torque( parent->Limits().pitch, parent->Limits().yaw, 0 );     //set torque to max accel in any direction
    if (terminatingX > switchbacks && terminatingY > switchbacks) {
        if ( Done( local_velocity ) ) {
            if (this->terminating) {
                done = true;
            } else {
                terminatingX = 0;
                terminatingY = 0;
            }
            return;
        }
        torque = (-parent->GetMoment()/SIMULATION_ATOM)*local_velocity;
    } else {
        TurnToward( atan2( local_heading.j, local_heading.k ), local_velocity.i, torque.i );         //find angle away from axis 0,0,1 in yz plane
        OptimizeAngSpeed( turningspeed*parent->GetComputerData().max_pitch_down,
                          turningspeed*parent->GetComputerData().max_pitch_up,
                          local_velocity.i,
                          torque.i );
        TurnToward( atan2( local_heading.i, local_heading.k ), -local_velocity.j, torque.j );
        torque.j = -torque.j;
        OptimizeAngSpeed( turningspeed*parent->GetComputerData().max_yaw_left,
                          turningspeed*parent->GetComputerData().max_yaw_right,
                          local_velocity.j,
                          torque.j );
        torque.k = -parent->GetMoment()*local_velocity.k/SIMULATION_ATOM;         //try to counteract roll;
    }
    if (!cheater)
        parent->ApplyLocalTorque( torque );
}

virtual string Orders::ChangeHeading::getOrderDescription ( )

inlinevirtual

Reimplemented from Order.

Reimplemented in Orders::FaceDirection, Orders::FaceTargetITTS, Orders::AutoLongHaul, and Orders::FaceTarget.

Definition at line 112 of file navigation.h.

    {
        return "chhead";
    }

void Orders::ChangeHeading::ResetDone ( )

inlineprotected

Definition at line 93 of file navigation.h.

References Order::done.

Referenced by Orders::FaceTarget::Execute(), Orders::AutoLongHaul::Execute(), Orders::FaceTargetITTS::Execute(), Orders::FaceDirection::Execute(), and SetDest().

    {
        done = false;
        terminatingX = terminatingY = 0;
    }

void ChangeHeading::SetDest

(

const QVector &

target)

Definition at line 265 of file navigation.cpp.

References ResetDone().

Referenced by Orders::FaceTarget::Execute(), Orders::AutoLongHaul::Execute(), Orders::FaceTargetITTS::Execute(), and Orders::FaceDirection::Execute().

{
    final_heading = target;
    ResetDone();
}

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The documentation for this class was generated from the following files:

• src/cmd/ai/navigation.h
• src/cmd/ai/navigation.cpp