232 lines
8.9 KiB
C++
232 lines
8.9 KiB
C++
// demo_pilot.cpp - Implementación de la IA del attract mode
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// © 2026 JailDesigner
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#include "game/systems/demo_pilot.hpp"
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#include <cmath>
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#include <cstdlib>
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#include "core/types.hpp"
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namespace Systems::Demo {
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namespace {
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constexpr float PI = Constants::PI;
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constexpr float TWO_PI = 2.0F * PI;
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// Cadencia y reacción (segundos).
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constexpr float RETARGET_INTERVAL = 0.15F; // re-evaluar objetivo (reacción humana)
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constexpr float FIRE_COOLDOWN = 0.32F; // entre disparos
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// Apuntado.
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constexpr float ROTATE_DEADZONE = 0.05F; // rad: zona muerta para no oscilar
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constexpr float FIRE_TOLERANCE = 0.18F; // rad: error máximo para disparar
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constexpr float AIM_JITTER_MAX = 0.10F; // rad: error de apuntado humano
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constexpr float LEAD_TIME = 0.30F; // s: anticipación sobre el enemigo
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// Distancias (px).
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constexpr float DANGER_RADIUS = 95.0F; // por debajo: maniobra de esquiva
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constexpr float APPROACH_RADIUS = 250.0F; // por encima: acercarse al objetivo
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constexpr float WALL_MARGIN = 60.0F; // px desde el borde: sesgo al centro
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constexpr float WALL_BIAS = 0.6F; // peso del empuje hacia el centro al esquivar
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// Esquiva de balas enemigas.
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constexpr float DODGE_SCAN_RADIUS = 190.0F; // px: distancia a la que reacciona
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constexpr float DODGE_HEADING_MIN = 0.25F; // dot mínimo: la bala viene hacia la nave
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// [-1, 1] aleatorio (estética: jitter de apuntado; no afecta a la simulación).
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auto randSigned() -> float {
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return (static_cast<float>(std::rand()) / static_cast<float>(RAND_MAX) * 2.0F) - 1.0F;
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}
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// Envuelve a [-PI, PI].
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auto wrapPi(float angle) -> float {
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return std::remainder(angle, TWO_PI);
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}
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struct Nearest {
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int index{-1};
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float distance{0.0F};
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Vec2 center{};
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Vec2 velocity{};
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};
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auto findNearest(const Vec2& from,
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const std::array<Enemy, Constants::MAX_ORNIS>& enemies) -> Nearest {
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Nearest best;
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float best_d2 = 0.0F;
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for (std::size_t i = 0; i < enemies.size(); ++i) {
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if (!enemies[i].isActive()) {
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continue;
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}
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const Vec2 C = enemies[i].getCenter();
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const float D2 = (C - from).lengthSquared();
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if (best.index == -1 || D2 < best_d2) {
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best.index = static_cast<int>(i);
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best_d2 = D2;
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best.center = C;
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best.velocity = enemies[i].getVelocityVector();
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}
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}
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if (best.index != -1) {
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best.distance = std::sqrt(best_d2);
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}
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return best;
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}
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struct BulletThreat {
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bool found{false};
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Vec2 position{};
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Vec2 velocity{};
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};
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// Bala enemiga más cercana que viene hacia la nave (dentro del radio de
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// reacción). Solo balas de enemic (owner_id >= ENEMY_OWNER_BASE).
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auto findBulletThreat(const Vec2& ship_pos,
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const std::array<Bullet, static_cast<std::size_t>(Defaults::Entities::MAX_BULLETS_TOTAL)>& bullets)
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-> BulletThreat {
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BulletThreat threat;
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float best_d2 = 0.0F;
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for (const auto& bullet : bullets) {
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if (!bullet.isActive() ||
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bullet.getOwnerId() < Defaults::Entities::ENEMY_OWNER_BASE) {
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continue;
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}
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const Vec2 BPOS = bullet.getCenter();
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const Vec2 TO_SHIP = ship_pos - BPOS;
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const float D2 = TO_SHIP.lengthSquared();
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if (D2 > DODGE_SCAN_RADIUS * DODGE_SCAN_RADIUS) {
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continue;
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}
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const Vec2 BVEL = bullet.getBody().velocity;
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if (BVEL.lengthSquared() < 1.0F) {
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continue;
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}
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// ¿La bala se dirige hacia la nave?
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if (BVEL.normalized().dot(TO_SHIP.normalized()) < DODGE_HEADING_MIN) {
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continue;
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}
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if (!threat.found || D2 < best_d2) {
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threat.found = true;
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best_d2 = D2;
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threat.position = BPOS;
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threat.velocity = BVEL;
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}
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}
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return threat;
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}
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// Error angular (rad, [-PI,PI]) entre la nariz de la nave y desired_dir,
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// con el jitter de apuntado aplicado. La nariz apunta hacia (angle - PI/2).
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auto steerError(const Ship& ship, const Vec2& desired_dir, float jitter) -> float {
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const float DESIRED = std::atan2(desired_dir.y, desired_dir.x) + jitter;
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const float NOSE = ship.getAngle() - (PI / 2.0F);
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return wrapPi(DESIRED - NOSE);
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}
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// Setea rotación según el error (RIGHT incrementa ship.angle; LEFT lo
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// decrementa), con zona muerta para no oscilar.
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void applyRotation(Control& ctrl, float error) {
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if (error > ROTATE_DEADZONE) {
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ctrl.right = true;
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} else if (error < -ROTATE_DEADZONE) {
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ctrl.left = true;
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}
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}
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} // namespace
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auto DemoPilot::compute(const Ship& ship,
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const std::array<Enemy, Constants::MAX_ORNIS>& enemies,
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const std::array<Bullet, static_cast<std::size_t>(Defaults::Entities::MAX_BULLETS_TOTAL)>& bullets,
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const SDL_FRect& play_area,
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float delta_time) -> Control {
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Control ctrl;
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if (fire_cooldown_ > 0.0F) {
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fire_cooldown_ -= delta_time;
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}
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retarget_timer_ -= delta_time;
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if (retarget_timer_ <= 0.0F) {
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retarget_timer_ = RETARGET_INTERVAL;
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aim_jitter_ = randSigned() * AIM_JITTER_MAX;
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}
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if (!ship.isActive()) {
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return ctrl; // nave muerta: sin control
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}
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const Vec2 SHIP_POS = ship.getCenter();
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const Vec2 PLAY_CENTRE{
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.x = play_area.x + (play_area.w / 2.0F),
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.y = play_area.y + (play_area.h / 2.0F)};
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const Vec2 TO_CENTRE = (PLAY_CENTRE - SHIP_POS).normalized();
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// Prioridad 1: esquivar una bala enemiga entrante. Se mueve perpendicular
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// a la trayectoria de la bala (con sesgo al centro) y no dispara.
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const BulletThreat THREAT = findBulletThreat(SHIP_POS, bullets);
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if (THREAT.found) {
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const Vec2 BV = THREAT.velocity.normalized();
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Vec2 perp{.x = -BV.y, .y = BV.x};
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if ((SHIP_POS - THREAT.position).dot(perp) < 0.0F) {
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perp = -perp; // hacia el lado en que ya está la nave
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}
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const Vec2 ESCAPE = (perp + (TO_CENTRE * WALL_BIAS)).normalized();
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applyRotation(ctrl, steerError(ship, ESCAPE, aim_jitter_));
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ctrl.thrust = true;
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return ctrl;
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}
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const Nearest TARGET = findNearest(SHIP_POS, enemies);
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target_idx_ = TARGET.index;
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// Sin enemigos: deriva tranquila (gira despacio, sin empuje ni disparo).
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if (TARGET.index == -1) {
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ctrl.right = true;
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return ctrl;
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}
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const bool NEAR_WALL =
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SHIP_POS.x < play_area.x + WALL_MARGIN ||
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SHIP_POS.x > play_area.x + play_area.w - WALL_MARGIN ||
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SHIP_POS.y < play_area.y + WALL_MARGIN ||
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SHIP_POS.y > play_area.y + play_area.h - WALL_MARGIN;
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Vec2 desired_dir;
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const bool DANGER = TARGET.distance < DANGER_RADIUS;
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if (DANGER) {
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// Prioridad 2: alejarse del enemigo pegado, con sesgo al centro.
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const Vec2 AWAY = (SHIP_POS - TARGET.center).normalized();
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desired_dir = (AWAY + (TO_CENTRE * WALL_BIAS)).normalized();
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ctrl.thrust = true;
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} else {
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// Combate: apuntar al enemigo con lead + jitter.
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const Vec2 PREDICTED = TARGET.center + (TARGET.velocity * LEAD_TIME);
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desired_dir = (PREDICTED - SHIP_POS).normalized();
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}
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const float ERROR = steerError(ship, desired_dir, aim_jitter_);
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applyRotation(ctrl, ERROR);
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if (!DANGER) {
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// Acercarse si el objetivo está lejos (mantiene la nave cazando),
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// pero no empujar de cara a una pared.
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const bool FACING_WALL = NEAR_WALL && TO_CENTRE.dot(desired_dir) < 0.0F;
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if (TARGET.distance > APPROACH_RADIUS && !FACING_WALL &&
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std::fabs(ERROR) < FIRE_TOLERANCE) {
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ctrl.thrust = true;
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}
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// Disparar cuando está bien encarada y el cooldown lo permite.
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if (std::fabs(ERROR) < FIRE_TOLERANCE && fire_cooldown_ <= 0.0F) {
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ctrl.shoot = true;
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fire_cooldown_ = FIRE_COOLDOWN;
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}
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}
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return ctrl;
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}
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} // namespace Systems::Demo
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