//    Made by Yenz
//    Please send comments and improvments to yenz9@hotmail.com
//    
//    Thanks to sclover@abac.com (code to find out where to make a safe landing and
//    errordetectingcode) and NeBen@triad.rr.com (aimingcode and motorcontrol). I
//    changed some of the borrowed parts, but the ideas i used in those parts was theirs.
//
//    This program is for WingedShooter. It will propably also work for
//    Wheeled, Tracked and Legged Shooter and OrgaShooter but thats untested.



extern void object::AlienKiller()
{
	
	object alien, item;
	float ground ,wantedFlightHight, wantedAltitude, jetPower, angle;
	point oldPosition;
	
	if((energyCell.energyLevel < 0.8) or (shieldLevel < 0.8))        //prepare to hunt aliens
	{
		maint();
	}
	
	while(true)
	{
		alien = closestEnemy();
		while(alien != null)        //if there still is any aliens left
		{
			while((distance(position, alien.position) > 35) and (energyCell.energyLevel > 0.4) and (shieldLevel > 0.7))        //close in on alien position
			{
				headTo(alien, position);        //Close in on alien position
				alien = closestEnemy();
				if(alien == null) break;
			}
			
			alien = closestEnemy();
			if(alien != null)                //if there still is any aliens left
			{
				while((distance(position, alien.position) < 35) and (energyCell.energyLevel > 0.3) and (shieldLevel > 0.7))        //if the alien is close enough to kill and evrything else is OK
				{
					alien = closestEnemy();
					if(alien == null) break;            //if there isn't any aliens left
					turn(direction(alien.position));    //else
					
					angle = atan(((topo(alien.position)+alien.altitude)-(topo(position)+altitude))/distance2d(position, alien.position));        //find out where to aim
					
					aim(angle);        //prepare for the kill
					
					if((angle <= 20) and (angle >= -20))        //if it's possibly to kill the alien
					{
						turnAndFire();        //shoot the alien
						
						if( topo(position) < 0)        //keep a good altitude
						    ground = 0;
						else
						    ground = topo(position);
						
						wantedFlightHight = ground + 3;
						jetPower = (wantedFlightHight - position.z)/5;
						motor(0.7, 0.7);        //slow down
						jet(jetPower);
						wait ( 0.1 );
					}
					
					if(angle > 20)            //if it's not possible to hit alien with current flight altitude
					{                         //slow down and find a altitude from whitch to kill that alien
						motor(0.3, 0.3);
						jet(1);
						wait ( 0.1 );
					}
					
					if(angle < -20)
					{
						motor(0.3, 0.3);
						jet(-1);
						wait ( 0.1 );
					}
					
					if(oldPosition == position)        //if there is something in the way
					{
						avoidObstacle();
					}
					oldPosition = position;
				}
				
				alien = closestEnemy();
			}
			
			if((energyCell.energyLevel < 0.6) or (shieldLevel < 0.8))        //if it isn't OK to kill another alien
			{
				maint();
			}
			
			alien = closestEnemy();
		}
		
		maint();        //recharge before returning to Spaceship
		
		item = radar(SpaceShip); // looks for SpaceShip
		
		while(distance(position, item.position) > 70)
		{
			headTo(item, position);
		}
		
		goto(item.position);   // goes to the SpaceShip
		
		message("Waiting on SpaceShip for enemies to kill", DisplayInfo);
		
		
		if(alien == null)               //make room on SpaceShip there could come others from the same direction
		{
			turn((rand() * 180) - 90);
			motor(0.5, 0.5);
			wait(rand() * 2 + 1);
			motor(0, 0);
		}
		while(alien == null)            //wait 20s for aliens to apear 
		{
			wait(20);
			alien = closestEnemy();
		}
		message("Found enemies to kill", DisplayWarning);        //found more aliens to kill
	}
	
}



void object::maint()        //Maintenance    Thanks to sclover@abac.com for errordetectingcode
{
	object item;
	int errcode;
	
	errmode(0);
	
	if(energyCell.energyLevel < 0.8)
	{
		item = radar(PowerStation);         // looks for power station
		
		while(distance(position, item.position) > 70)        //sometimes goto() wasn't good enough
		{
			headTo(item, position);
		}
		
		errcode = goto(item.position);        //let goto() take over
		while(errcode != 0)        //if station is unreachable wait 3s
		{                          
			turn(direction(item.position));
			temperatureGuard();
			wait(3);
			errcode = goto(item.position);
		}
		
		while(energyCell.energyLevel < 1)
		{
			wait(0.5);            // waits until recharged
		}
		turn(90);                //move away from landingpad
		motor(1, 1);
		wait(1.5);
	}
	
	
	if ( shieldLevel < 1 )
	{
		item = radar(RepairCenter);        // looks for repair station
		errcode = goto(item.position);        //goto() is good enough here
		while(errcode != 0)        //if station is unreachable wait 3s
		{
			turn(direction(item.position));
			temperatureGuard();
			wait(rand() * 3);
			errcode = goto(item.position);
		}
		
		while(shieldLevel < 1)
		{
			wait(1);            // waits until recharged
		}
		
		turn(90);            //move away from landingpad
		motor(1, 1);        
		wait(1.5);
	}
}

void object::turnAndFire()            //Kill a alien if it's close enough 
{                                     //also used to protect the bot when it's volnerable
	object alien;
	float angle;
	
	alien = closestEnemy();
	if(alien != null)        //if there still is a alien left
	{
		if(distance(position, alien.position) < 35)
		{
			turn(direction(alien.position));
			
			angle = atan(((topo(alien.position)+alien.altitude)-(topo(position)+altitude))/distance2d(position, alien.position));
			
			aim(angle);    //aim at the target
			
			fire(0.1);    //kill it
		}
	}
}



void object::temperatureGuard()        //land if enginetemperature is to high
{
	point loc;
	int counter;
	
	if(temperature > 0.75) 
	{
		jet(0);
		
		while(topo(position) < -0.7)         //find somewhere to land
		{                                                         
			counter = 0;
			while(counter < 36)        //part made by sclover@abac.com
			{
				loc.x = (cos(orientation) * 20.0) + position.x;
				loc.y = (sin(orientation) * 20.0) + position.y;
				loc.z = position.z + 5.0;
				
				if(topo(loc) >= -0.7)
				{
					move(20);
					break;
				}
				turn(10);
				counter++;
			}
			
			if(topo(position) >= -0.7)
			{
				break;
			}
			motor(1, 1);
			wait(2);
		}
		
		motor(0, 0);        //stop and land
		jet( -1 );
		while(altitude >0);
		{
			turnAndFire();
			wait(0.2);
		}
		
		while(temperature > 0)
		{
			turnAndFire();
			wait(0.2);
		}
		
	}
}



void object::avoidObstacle()        // if somethings in the way
{
	object alien;
	
	motor(-1, -1);
	jet(0);
	wait(1);
	temperatureGuard();
	turnAndFire();
	turn(90);
	motor(1, 1);
	jet(1);
	wait(1);
	temperatureGuard();
	turnAndFire();
	alien = closestEnemy();
	if(alien != null)        //if there still is any aliens left
	{
		turn(direction(alien.position));
	}
	motor(1, 1);
	jet(1);
	wait(1);
}



object object::closestEnemy()        //find nearest enemy to kill
{
	object nearestAlien, alien;
	int alienList[], nr;
	
	nearestAlien = null;
	alien = null;
	nr = 0;
	
	alienList[nr++] = AlienWasp;
	alienList[nr++] = AlienAnt;
	alienList[nr++] = AlienSpider;
	alienList[nr++] = AlienWorm;
	alienList[nr++] = AlienEgg;
	
	for(nr = 0 ; nr < 5 ; nr++)
	{
		alien = radar(alienList[nr]);
		
		if(alien != null)        //if there is a alien of this kind
		{
			if(nearestAlien != null)        //if there is a alien of another detected kind 
			{
				if((distance(position, nearestAlien.position)) > (distance(position, alien.position)))        //whitch alien is closest 
				{
					nearestAlien = alien;
				}        
			}
			else
			{
				nearestAlien = alien;        //if it wasn't 
			}
		}
	}
	
	if(nearestAlien == null)        //if there is no other alien go for the queen (if there is any)
	{
		nearestAlien = radar(AlienQueen);
	}
	
	return nearestAlien;        //return whitch alien is the closest alien to current position    
}



void object::headTo(object goal,point oldPosition)        //moves for 0.1s closer to the goal
{                                                         //uses oldPosition to find out if there 
	                                                      //is something in the way
	
	float ground ,wantedFlightHight, wantedAltitude, jetPower;
	
	
	temperatureGuard();
	
	if( topo(position) < 0)
	    ground = 0;
	else
	    ground = topo(position);
	
	wantedAltitude = 6;
	
	wantedFlightHight = ground + wantedAltitude;
	jetPower = (wantedFlightHight - position.z)/5;
	
	if(jetPower < -0.7)        //lower jetpower could drop the bot to the ground
	{
		jetPower = -0.7;
	}
	
	motor(1-(direction(goal.position)/30),1-(-direction(goal.position)/30));        //Made by NaBen
	jet(jetPower);
	wait(0.1);
	
	if(oldPosition == position)        //if bot hasn't moved
	{
		avoidObstacle();
	}
}