268 lines
9.2 KiB
C#
268 lines
9.2 KiB
C#
#region Copyright & License Information
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/*
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* Copyright 2007-2020 The OpenRA Developers (see AUTHORS)
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* This file is part of OpenRA, which is free software. It is made
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* available to you under the terms of the GNU General Public License
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* as published by the Free Software Foundation, either version 3 of
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* the License, or (at your option) any later version. For more
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* information, see COPYING.
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*/
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#endregion
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using System;
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using System.Collections.Generic;
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using OpenRA.Activities;
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using OpenRA.Mods.Common.Traits;
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using OpenRA.Primitives;
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using OpenRA.Traits;
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namespace OpenRA.Mods.Common.Activities
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{
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public class Land : Activity
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{
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readonly Aircraft aircraft;
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readonly WVec offset;
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readonly WAngle? desiredFacing;
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readonly bool assignTargetOnFirstRun;
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readonly CPos[] clearCells;
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readonly WDist landRange;
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readonly Color? targetLineColor;
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Target target;
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WPos targetPosition;
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CPos landingCell;
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bool landingInitiated;
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bool finishedApproach;
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public Land(Actor self, WAngle? facing = null, Color? targetLineColor = null)
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: this(self, Target.Invalid, new WDist(-1), WVec.Zero, facing, null)
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{
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assignTargetOnFirstRun = true;
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}
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public Land(Actor self, Target target, WAngle? facing = null, Color? targetLineColor = null)
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: this(self, target, new WDist(-1), WVec.Zero, facing, targetLineColor: targetLineColor) { }
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public Land(Actor self, Target target, WDist landRange, WAngle? facing = null, Color? targetLineColor = null)
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: this(self, target, landRange, WVec.Zero, facing, targetLineColor: targetLineColor) { }
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public Land(Actor self, Target target, WVec offset, WAngle? facing = null, Color? targetLineColor = null)
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: this(self, target, WDist.Zero, offset, facing, targetLineColor: targetLineColor) { }
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public Land(Actor self, Target target, WDist landRange, WVec offset, WAngle? facing = null, CPos[] clearCells = null, Color? targetLineColor = null)
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{
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aircraft = self.Trait<Aircraft>();
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this.target = target;
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this.offset = offset;
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this.clearCells = clearCells ?? new CPos[0];
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this.landRange = landRange.Length >= 0 ? landRange : aircraft.Info.LandRange;
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this.targetLineColor = targetLineColor;
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// NOTE: desiredFacing = -1 means we should not prefer any particular facing and instead just
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// use whatever facing gives us the most direct path to the landing site.
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if (!facing.HasValue && aircraft.Info.TurnToLand)
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desiredFacing = WAngle.FromFacing(aircraft.Info.InitialFacing);
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else
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desiredFacing = facing;
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}
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protected override void OnFirstRun(Actor self)
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{
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// When no target is provided we should land in the most direct manner possible.
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// TODO: For fixed-wing aircraft self.Location is not necessarily the most direct landing site.
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if (assignTargetOnFirstRun)
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target = Target.FromCell(self.World, self.Location);
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}
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public override bool Tick(Actor self)
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{
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if (IsCanceling || target.Type == TargetType.Invalid)
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{
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if (landingInitiated)
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{
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// We must return the actor to a sensible height before continuing.
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// If the aircraft lands when idle and is idle, continue landing,
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// otherwise climb back to CruiseAltitude.
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// TODO: Remove this after fixing all activities to work properly with arbitrary starting altitudes.
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var shouldLand = aircraft.Info.IdleBehavior == IdleBehaviorType.Land;
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var continueLanding = shouldLand && self.CurrentActivity.IsCanceling && self.CurrentActivity.NextActivity == null;
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if (!continueLanding)
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{
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var dat = self.World.Map.DistanceAboveTerrain(aircraft.CenterPosition);
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if (dat > aircraft.LandAltitude && dat < aircraft.Info.CruiseAltitude)
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{
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QueueChild(new TakeOff(self));
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return false;
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}
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aircraft.RemoveInfluence();
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return true;
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}
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}
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else
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return true;
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}
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var pos = aircraft.GetPosition();
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// Reevaluate target position in case the target has moved.
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targetPosition = target.CenterPosition + offset;
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landingCell = self.World.Map.CellContaining(targetPosition);
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// We are already at the landing location.
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if ((targetPosition - pos).LengthSquared == 0)
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return true;
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// Look for free landing cell
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if (target.Type == TargetType.Terrain && !landingInitiated)
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{
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var newLocation = aircraft.FindLandingLocation(landingCell, landRange);
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// Cannot land so fly towards the last target location instead.
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if (!newLocation.HasValue)
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{
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QueueChild(aircraft.MoveTo(landingCell, 0));
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return true;
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}
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if (newLocation.Value != landingCell)
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{
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target = Target.FromCell(self.World, newLocation.Value);
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targetPosition = target.CenterPosition + offset;
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landingCell = self.World.Map.CellContaining(targetPosition);
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}
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}
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// Move towards landing location/facing
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if (aircraft.Info.VTOL)
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{
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if ((pos - targetPosition).HorizontalLengthSquared != 0)
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{
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QueueChild(new Fly(self, Target.FromPos(targetPosition)));
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return false;
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}
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if (desiredFacing.HasValue && desiredFacing.Value != aircraft.Facing)
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{
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QueueChild(new Turn(self, desiredFacing.Value));
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return false;
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}
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}
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if (!aircraft.Info.VTOL && !finishedApproach)
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{
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// Calculate approach trajectory
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var altitude = aircraft.Info.CruiseAltitude.Length;
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// Distance required for descent.
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var landDistance = altitude * 1024 / aircraft.Info.MaximumPitch.Tan();
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// Approach landing from the opposite direction of the desired facing
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// TODO: Calculate sensible trajectory without preferred facing.
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var rotation = WRot.Zero;
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if (desiredFacing.HasValue)
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rotation = WRot.FromYaw(desiredFacing.Value);
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var approachStart = targetPosition + new WVec(0, landDistance, altitude).Rotate(rotation);
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// Add 10% to the turning radius to ensure we have enough room
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var speed = aircraft.MovementSpeed * 32 / 35;
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var turnRadius = Fly.CalculateTurnRadius(speed, aircraft.TurnSpeed);
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// Find the center of the turning circles for clockwise and counterclockwise turns
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var angle = aircraft.Facing;
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var fwd = -new WVec(angle.Sin(), angle.Cos(), 0);
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// Work out whether we should turn clockwise or counter-clockwise for approach
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var side = new WVec(-fwd.Y, fwd.X, fwd.Z);
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var approachDelta = self.CenterPosition - approachStart;
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var sideTowardBase = new[] { side, -side }
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.MinBy(a => WVec.Dot(a, approachDelta));
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// Calculate the tangent line that joins the turning circles at the current and approach positions
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var cp = self.CenterPosition + turnRadius * sideTowardBase / 1024;
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var posCenter = new WPos(cp.X, cp.Y, altitude);
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var approachCenter = approachStart + new WVec(0, turnRadius * Math.Sign(self.CenterPosition.Y - approachStart.Y), 0);
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var tangentDirection = approachCenter - posCenter;
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var tangentLength = tangentDirection.Length;
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var tangentOffset = WVec.Zero;
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if (tangentLength != 0)
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tangentOffset = new WVec(-tangentDirection.Y, tangentDirection.X, 0) * turnRadius / tangentLength;
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// TODO: correctly handle CCW <-> CW turns
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if (tangentOffset.X > 0)
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tangentOffset = -tangentOffset;
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var w1 = posCenter + tangentOffset;
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var w2 = approachCenter + tangentOffset;
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var w3 = approachStart;
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turnRadius = Fly.CalculateTurnRadius(aircraft.Info.Speed, aircraft.TurnSpeed);
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// Move along approach trajectory.
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QueueChild(new Fly(self, Target.FromPos(w1), WDist.Zero, new WDist(turnRadius * 3)));
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QueueChild(new Fly(self, Target.FromPos(w2)));
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// Fix a problem when the airplane is sent to land near the landing cell
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QueueChild(new Fly(self, Target.FromPos(w3), WDist.Zero, new WDist(turnRadius / 2)));
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finishedApproach = true;
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return false;
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}
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if (!landingInitiated)
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{
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var blockingCells = clearCells.Append(landingCell);
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if (!aircraft.CanLand(blockingCells, target.Actor))
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{
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// Maintain holding pattern.
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QueueChild(new FlyIdle(self, 25));
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self.NotifyBlocker(blockingCells);
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finishedApproach = false;
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return false;
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}
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if (aircraft.Info.LandingSounds.Length > 0)
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Game.Sound.Play(SoundType.World, aircraft.Info.LandingSounds, self.World, aircraft.CenterPosition);
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aircraft.AddInfluence(landingCell);
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aircraft.EnteringCell(self);
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landingInitiated = true;
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}
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// Final descent.
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if (aircraft.Info.VTOL)
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{
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var landAltitude = self.World.Map.DistanceAboveTerrain(targetPosition) + aircraft.LandAltitude;
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if (Fly.VerticalTakeOffOrLandTick(self, aircraft, aircraft.Facing, landAltitude))
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return false;
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return true;
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}
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var d = targetPosition - pos;
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// The next move would overshoot, so just set the final position
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var move = aircraft.FlyStep(aircraft.Facing);
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if (d.HorizontalLengthSquared < move.HorizontalLengthSquared)
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{
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var landingAltVec = new WVec(WDist.Zero, WDist.Zero, aircraft.LandAltitude);
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aircraft.SetPosition(self, targetPosition + landingAltVec);
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return true;
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}
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var landingAlt = self.World.Map.DistanceAboveTerrain(targetPosition) + aircraft.LandAltitude;
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Fly.FlyTick(self, aircraft, d.Yaw, landingAlt);
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return false;
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}
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public override IEnumerable<TargetLineNode> TargetLineNodes(Actor self)
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{
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if (targetLineColor != null)
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yield return new TargetLineNode(target, targetLineColor.Value);
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}
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}
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}
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