Method PositionPilot

engine/Poseidon/AI/VehicleAIPilot.cpp:397–524

}

void EntityAI::PositionPilot(float& speedWanted, float& headChange, float& turnPredict, Vector3Par pos, Vector3Par dir,
                             float precision)
{
    AIUnit* unit = PilotUnit();

    // control vehicle to get to given position
    // default: no speed limit
    _limitSpeed = GetType()->GetMaxSpeedMs() * 1.5;
    float dist2 = pos.Distance2(Position());

    saturateMin(precision, floatMax(4, GetPrecision()));
    float limit = precision;
    if (!_inFormation)
    {
        limit *= 0.5;
    }
    else
    {
        limit *= 2;
    }

    if (dist2 < Square(limit))
    {
        // in position - turn to direction
        _inFormation = true;
        speedWanted = 0;
        if (_fire._fireTarget)
        {
            Vector3Val tgtDir = PositionWorldToModel(_fire._fireTarget->AimingPosition());
            headChange = atan2(tgtDir.X(), tgtDir.Z());
        }
        else
        {
            Vector3Val relMoveDir = DirectionWorldToModel(dir);
            headChange = atan2(relMoveDir.X(), relMoveDir.Z());
            if (fabs(headChange) < 0.05 && GetStopped())
            {
                EngineOff();
            }
        }
    }
    else
    {
        // out of position
        _inFormation = false;
        // check if trivial solution is good enough

        // check if we are already there
        // find nearest empry position
        Vector3 freePos = pos;
        unit->FindNearestEmpty(freePos);

        dist2 = freePos.Distance2(Position());

        if (dist2 < Square(limit))
        {
            // we cannot be in formation - in-formation position is not free
            _inFormation = true;