#include <u.h>#include <libc.h>#include <draw.h>#include <thread.h> #include "bt.h"#include "map.h" #include "dat.h"#include "alg.h" enum{	IDLERADIUS	= 6,	IDLEIDLE	= 4,}; enum{	AIPOINT	= 0,	AIINT,	AIMONST,	AIITEM,	AIPATH,	AIWALKTO,}; typedef struct AiData AiData;struct AiData{	u32int type;	union {		int i;		Point pt;		Monster *m;		Item *it;		Point *path;		WalkToData *wd;	};}; static voidaivfree(void *v){	AiData *d; 	d = v; 	if(d == nil)		return; 	switch(d->type){	case AIMONST:		mfree(d->m);		break;	case AIITEM:		ifree(d->it);		break;	case AIPATH:		free(d->path);		break;	case AIWALKTO:		free(d->wd->path);		free(d->wd);		break;	} 	free(d);} static AiData*aidata(u32int typ){	AiData *d = emalloc(sizeof(AiData));	d->type = typ;	return d;} AiData*aipt(Point pt){	AiData *d = aidata(AIPOINT);	d->pt = pt;	return d;} AiData*aiint(int i){	AiData *d = aidata(AIINT);	d->i = i;	return d;} AiData*aimonst(Monster *m){	AiData *d = aidata(AIMONST);	d->m = m;	return d;} AiData*aiitem(Item *i){	AiData *d = aidata(AIITEM);	d->it = i;	return d;}	 AiData*aipath(Point *path){	AiData *d = aidata(AIPATH);	d->path = path;	return d;} AiData*aiwd(WalkToData *wd){	AiData *d = aidata(AIWALKTO);	d->wd = wd;	return d;} static voidOOM(void){	sysfatal("ai: %r");} static intwander(void *ctx, void *v){	int try;	Point p;	Monster *m;	AiData *pt, *in; 	m = v; 	for(try = 0; try < 5; try++){		p = addpt(m->pt, Pt(nrand(IDLERADIUS*2+1)-IDLERADIUS, nrand(IDLERADIUS*2+1)-IDLERADIUS)); 		if(ptinrect(p, m->l->r) &&			!hasflagat(m->l, p, Fblocked|Fhasmonster) &&			manhattan(m->pt, p) >= ORTHOCOST*2)			break;	} 	if(try == 5)		return TASKFAIL; 	pt = aipt(p);	in = aiint(0); 	if(mapset(m->bb, "wander_dst", pt) < 0)		OOM(); 	if(mapset(m->bb, "wander_offset", in) < 0)		OOM(); 	return TASKSUCCESS;} static WalkToData*planpathcalc(Monster *m, Point dst, int offset){	int npath;	Point *path;	WalkToData *wd; 	npath = pathfind(m->l, m->pt, dst, &path, Fhasmonster|Fblocked);	if(npath < 0)		return nil; 	wd = emalloc(sizeof(WalkToData));	wd->next = 1;	wd->npath = npath - offset;	wd->path = path; 	return wd;} static intplanpathkey(Monster *m, char *dst, char *offset, char *data){	WalkToData *wd;	AiData *dd, *doff; 	dd = mapget(m->bb, dst);	doff = mapget(m->bb, offset); 	wd = planpathcalc(m, dd->pt, doff->i);	if(wd == nil)		return TASKFAIL; 	if(mapset(m->bb, data, aiwd(wd)) < 0)		OOM(); 	return TASKSUCCESS;} static intplanpathwander(void *ctx, void *v){	Monster *m; 	m = v; 	return planpathkey(m, "wander_dst", "wander_offset", "wander_data");} static intplanpathgetstuff(void *ctx, void *v){	Monster *m; 	m = v; 	return planpathkey(m, "getstuff_dst", "getstuff_offset", "getstuff_data");} static intplanpathattack(void *ctx, void *v){	Monster *m; 	m = v; 	return planpathkey(m, "attack_dst", "attack_offset", "attack_data");} static intplanpathguard(void *ctx, void *v){	Monster *m; 	m = v; 	return planpathkey(m, "guard_dst", "guard_offset", "guard_data");} static intwalktoinner(Monster *m, char *data){	Point np;	WalkToData *wd;	AiData *dwd; 	dwd = mapget(m->bb, data);	assert(dwd != nil); 	wd = dwd->wd; 	if(wd->next == wd->npath){		mapdelete(m->bb, data);		return TASKSUCCESS;	} 	np = wd->path[wd->next]; 	/* could just call maction(m,MMOVE,np) but	 * this prevents friendly fire	 */	if(hasflagat(m->l, np, Fhasmonster|Fblocked)){		mapdelete(m->bb, data);		return TASKFAIL;	} 	int rv = maction(m, MMOVE, np);	if(rv != 1){		mapdelete(m->bb, data);		return TASKFAIL;	} 	wd->next++; 	return TASKRUNNING;} static intwalktowander(void *ctx, void *v){	Monster *m; 	m = v; 	return walktoinner(m, "wander_data");} static intwalktogetstuff(void *ctx, void *v){	Monster *m;	m = v;	return walktoinner(m, "getstuff_data");} static intwalktoattack(void *ctx, void *v){	Monster *m;	m = v;	return walktoinner(m, "attack_data");} static intwalktoguard(void *ctx, void *v){	Monster *m;	m = v;	return walktoinner(m, "guard_data");} enum {	ATTACKRADIUS	= 6,}; typedef int (*checktile)(Monster *m, Level *l, Point p); static intfindthing(Monster *m, Level *l, int radius, checktile ct){	int i, r, xd, yd, xs, ys;	Point c, p, s; 	c = m->pt; 	r = radius; 	for(p.x = c.x; p.x >= c.x - r; p.x--){		for(p.y = c.y; p.y >= c.y - r; p.y--){			xd = p.x - c.x;			yd = p.y - c.y; 			/* skip points outside circle */			if(xd*xd+yd*yd > r*r)				continue; 			xs = c.x - xd;			ys = c.y - yd; 			Point pts[] = { p, Pt(p.x, ys), Pt(xs, p.y), Pt(xs, ys) };			shuffle(pts, 4, sizeof(Point));			for(i = 0; i < 4; i++){				s = pts[i]; 				if(!ptinrect(s, m->l->r))					continue; 				if(ct(m, l, s) == 0)					return TASKSUCCESS;			}		}	} 	return TASKFAIL;} static intcheckenemy(Monster *m, Monster *target){	if(m == target)		return -1;	if(target->flags & Mdead)		return -1;	if(abs(m->align - target->align) <= 15)		return -1;	return 0;} static intcheckenemy2(Monster *m, Level *l, Point p){	Tile *t;	Monster *target; 	if(!hasflagat(l, p, Fhasmonster))		return -1; 	t = tileat(l, p);	target = t->monst; 	if(checkenemy(m, target) != 0)		return -1; 	/* found a suitable target */	incref(&target->ref);	if(mapset(m->bb, "attack_target", aimonst(target)) < 0)		OOM(); 	return 0;} static intfindenemy(void *ctx, void *v){	Monster *m, *target;	AiData *dtgt; 	m = v; 	target = nil; 	/* check if we already have a target */	dtgt = mapget(m->bb, "attack_target");	if(dtgt != nil)		target = dtgt->m; 	if(target != nil && checkenemy(m, target) == 0)		return TASKSUCCESS; 	return findthing(m, m->l, ATTACKRADIUS, checkenemy2);} static inttargetenemy(void *ctx, void *v){	Monster *m;	AiData *dtgt, *dst, *off; 	m = v; 	dtgt = mapget(m->bb, "attack_target");	if(dtgt == nil)		return TASKFAIL; 	dst = aipt(dtgt->m->pt);	off = aiint(1); 	if(mapset(m->bb, "attack_dst", dst) < 0)		OOM(); 	if(mapset(m->bb, "attack_offset", off) < 0)		OOM(); 	return TASKSUCCESS;} static intattackenemy(void *ctx, void *v){	Monster *m, *target;	AiData *dtgt;	m = v; 	dtgt = mapget(m->bb, "attack_target");	assert(dtgt != nil); 	target = dtgt->m; 	/* monster has moved */	if(manhattan(m->pt, target->pt) > ORTHOCOST)		return TASKFAIL; 	/* hit the enemy */	if(maction(m, MMOVE, target->pt) != 0)		return TASKFAIL; 	if(target->flags & Mdead)		return TASKSUCCESS; 	return TASKRUNNING;} static BehaviorNode*bnidle(void){	BehaviorNode *bnwfind, *bnplanpath, *bnwalkto; 	bnwfind = btleaf("wander find", wander, nil);	bnplanpath = btleaf("wander plan path", planpathwander, nil);	bnwalkto = btleaf("wander move", walktowander, nil); 	btsetguard(bnwalkto, bnplanpath);	btsetguard(bnplanpath, bnwfind); 	return bnwalkto;	} static intcheckitem(Monster *m, Level *l, Point p){	int typ;	Tile *t;	Item *target; 	if(!hasflagat(l, p, Fhasitem))		return -1; 	if(hasflagat(l, p, Fhasmonster))		return -1; 	/* something is here */	t = tileat(l, p);	target = ilnth(&t->items, 0); 	typ = target->id->type;

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