From 0ba89633c7f4db4c76cb34e7c30734633e1e009a Mon Sep 17 00:00:00 2001
From: Giles Williams <aegidian@oolite.org>
Date: Fri, 30 Jun 2006 09:18:09 +0000
Subject: [PATCH] some changes to behaviour

git-svn-id: http://svn.berlios.de/svnroot/repos/oolite-linux/trunk@628 127b21dd-08f5-0310-b4b7-95ae10353056
---
 src/Core/ShipEntity.h |  7 +++++
 src/Core/ShipEntity.m | 60 ++++++++++++++++++++++++++++++++++++++++++-
 2 files changed, 66 insertions(+), 1 deletion(-)

diff --git a/src/Core/ShipEntity.h b/src/Core/ShipEntity.h
index 5be0dd39..8545a838 100644
--- a/src/Core/ShipEntity.h
+++ b/src/Core/ShipEntity.h
@@ -356,6 +356,11 @@ Your fair use and other rights are in no way affected by the above.
 		ShipEntity*				scanned_ships[MAX_SCAN_NUMBER];
 		GLfloat					distance2_scanned_ships[MAX_SCAN_NUMBER];
 		int						n_scanned_ships;
+		
+		// advanced navigation
+		Vector					navpoints[32];
+		int						next_navpoint_index;
+		int						number_of_navpoints;
 
 		// DEBUGGING
 		int debug_flag;
@@ -429,6 +434,8 @@ Your fair use and other rights are in no way affected by the above.
 //            //
 - (void) behaviour_track_as_turret:(double) delta_t;
 //            //
+- (void) behaviour_fly_thru_navpoints:(double) delta_t;
+//            //
 - (void) behaviour_experimental:(double) delta_t;
 //            //
 ////////////////
diff --git a/src/Core/ShipEntity.m b/src/Core/ShipEntity.m
index e6c0711e..160543b8 100644
--- a/src/Core/ShipEntity.m
+++ b/src/Core/ShipEntity.m
@@ -2818,7 +2818,7 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
 
 		if (distance < last_distance)	// improvement
 		{
-			frustration -= delta_t;
+			frustration -= 0.25 * delta_t;
 			if (frustration < 0.0)
 				frustration = 0.0;
 		}
@@ -2903,6 +2903,64 @@ ShipEntity* doOctreesCollide(ShipEntity* prime, ShipEntity* other)
 	}
 }
 //            //
+- (void) behaviour_fly_thru_navpoints:(double) delta_t
+{
+	int navpoint_plus_index = (next_navpoint_index + 1) % number_of_navpoints;
+	Vector d1 = navpoints[ next_navpoint_index];		// head for this one
+	Vector d2 = navpoints[ navpoint_plus_index];	// but be facing this one
+	
+	Vector rel = vector_between(d1, position);
+	Vector ref = vector_between(d2, d1);
+	ref = unit_vector(&ref);
+	
+	GLfloat	r1 = dot_product( rel, ref);
+	
+	GLfloat distance = sqrtf(magnitude2(rel));
+	
+	if (distance < desired_range)
+	{
+		// desired range achieved
+		[shipAI reactToMessage:@"NAVPOINT_REACHED"];
+		if (navpoint_plus_index == 0)
+			[shipAI reactToMessage:@"ENDPOINT_REACHED"];
+		next_navpoint_index = navpoint_plus_index;	// loop as required
+	}
+	else
+	{
+		double last_success_factor = success_factor;
+		double last_distance = last_success_factor;
+		success_factor = distance;
+
+		// set destination spline point from r1 and ref
+		destination = make_vector( d1.x + r1 * ref.x, d1.y + r1 * ref.y, d1.z + r1 * ref.z);
+
+		// do the actual piloting!!
+		[self trackDestination:delta_t: NO];
+		
+		// keep speed as is
+
+		if (distance < last_distance)	// improvement
+		{
+			frustration -= delta_t;
+			if (frustration < 0.0)
+				frustration = 0.0;
+		}
+		else
+		{
+			frustration += delta_t;
+			if (frustration > 15.0)	// 15s of frustration
+			{
+				[shipAI reactToMessage:@"FRUSTRATED"];
+				frustration -= 15.0;	//repeat after another 15s of frustration
+			}
+		}
+	}
+//	if ((proximity_alert != NO_TARGET)&&(proximity_alert != primaryTarget))
+//		[self avoidCollision];
+	[self applyRoll:delta_t*flight_roll andClimb:delta_t*flight_pitch];
+	[self applyThrust:delta_t];
+}
+//            //
 - (void) behaviour_experimental:(double) delta_t
 {
 	double aim = [self ballTrackTarget:delta_t];