; This sucks... I know nothing about halflife.

(define-signal bot-x (get-x))
(define-signal bot-y (get-y))
(define-signal yaw-radians (degrees->radians (get-absolute-yaw)))
(define-signal bot-sin (sin yaw-radians))
(define-signal bot-negative-sin (- bot-sin))
(define-signal bot-cos (cos yaw-radians))

(define-signal (global->egocentric xy)
  (let ((x (- (x-of xy) bot-x))
	(y (- (y-of xy) bot-y)))
    (xy-vector (+ (* bot-cos x) (* bot-sin y))
	       (+ (* bot-cos y) (* bot-negative-sin x)))))

(define-signal (follow-xy-vector xy)
  (let* ((a (angle xy))
	 (a2 (normalize-radians (+ a (* pi 1/4))))
	 (unit (unit-vector a)))
    (cond ((<= a2 (/ pi 2))
	   (hl-bot-vector
	    (round->integer (* 5000 (y-of unit)))
	    2 0 0 #f #f #f #f 0 #f #f))
	  ((< a2 pi)
	   (hl-bot-vector
	    (round->integer (* 5000 (x-of unit)))
	    0 -2 0 #f #f #f #f 0 #f #f))
	  ((<= a2 (* pi 3/2))
      	   (hl-bot-vector
	    (round->integer (* -5000 (y-of unit)))
	    -2 0 0 #f #f #f #f 0 #f #f))
	  (else
	   (hl-bot-vector
	    (round->integer (* -5000 (x-of unit)))
	    0 2 0 #f #f #f #f 0 #f #f)))))

(define-signal (distance x y)
  (sqrt (+ (square (- x bot-x)) (square (- y bot-y)))))

(define-action (goto-xy (x 0) (y 0))
  (terminate-when (< (distance x y) 20))
  (follow-xy-vector (global->egocentric (xy-vector x y))))

(define-signal jump-and-go-active? #f)

(define-action (jump-and-go (x 0) (y 0))
  (terminate-when (< (distance x y) 20))
  (if (one-shot jump-and-go-active?)
      (hl-bot-vector 0 2 0 0 #f #f #t #f 0 #f #f)
      (follow-xy-vector (global->egocentric (xy-vector x y)))))

(define-signal jump-and-go-active? (active? jump-and-go))

(define-signal timer (true-time (flip-flop (is-moving) #f)))

(define-signal two-minute-kill-behavior
  (behavior
   (> timer (* 2 60 1000))
   (if (> timer (+ 500 (* 2 60 1000)))
       (hl-bot-vector 0 0 0 0 #f #f (toggle #t) #f 0 #f #f)
       limp-hl-motor-vector)))


(define-action (match-yaw-pitch (yaw 0) (pitch 0))
  (terminate-when (and (< (abs (subtract-angles-degrees yaw
							(get-absolute-yaw)))
			  5)
		       (< (abs (subtract-angles-degrees pitch
							(get-absolute-pitch)))
			  5)))
  (hl-bot-vector (round->integer (* 100 (subtract-angles-degrees yaw (get-absolute-yaw))))
		 0 0
		 (round->integer (* 100 (subtract-angles-degrees (get-absolute-pitch) pitch)))
		 #f #f #f #f 0 #f #f))

(define-action (select-weapon (w 0))
  (terminate-when (= (get-current-weapon) w))
  (hl-bot-vector 0 0 0 0 #f #f #f #f w #f #f))

(define-action (charge-tau-cannon)
  (hl-bot-vector 0 0 0 0 #f #f #f #t 0 #f #f))

(define-plan (tau-hop (yaw 0) (pitch 0) (ms 0))
  (match-yaw-pitch yaw pitch)
  (select-weapon weapon-gauss)
  (start (charge-tau-cannon))
  (sleep ms)
  (stop charge-tau-cannon)
  (sleep 200)
  (match-yaw-pitch yaw 0))

(define-plan (path)
  (initially-running? #t)
  ; get 357
  (goto-xy -276 -507)
  (goto-xy -317 -454)
  (goto-xy -328 -558)

  ; get big ammo cache
  (goto-xy 407 50)
  (goto-xy 443 529)
  (goto-xy 452 639)
  (goto-xy 335 647)
  (goto-xy 498 723)
  (goto-xy 561 677)
;  (goto-xy 596 705)

  ; get shotgun
  (goto-xy 759 455)
  (goto-xy 883 667)
  (goto-xy 853 1283)
  (goto-xy 729 1281)
  (goto-xy 668 1232)
  (goto-xy 609 1268)

  ; go upstairs
  (goto-xy -54 857)
  (goto-xy -66 559)
  (goto-xy -260 578)
  (goto-xy -280 1264)

  ; Get crossbow
  (goto-xy 338 1240)
  (goto-xy 400 1213)
  (goto-xy 420 1286)
  (goto-xy 479 1257)

  ; Up top, head for tau cannon
  (goto-xy 1166 1248)
  (goto-xy 1148 -276)
  (goto-xy 1297 -274)
  (goto-xy 1282 -1039)

  ; Jump off and get snarks
  (goto-xy 2678 -852)

  ; Head over to laser mines
  (goto-xy 2424 -579)
  (goto-xy 2420 481)
  (goto-xy 2416 566)
  (goto-xy 2215 579)

  ; jump up on the box. Go us!
  (tau-hop 0 90 700)
  (goto-xy 2069 589)
  (goto-xy 2093 667)

  ; Go over to the ramp, go upstairs
  (goto-xy 2415 1230)
  ; grenades
  (goto-xy 2858 1221)
  (goto-xy 2941 1194)

  ; head up, get rockets, egon gun
  (goto-xy 2917 -296)
  (goto-xy 2763 -345)
  (goto-xy 2923 -588)
  (goto-xy 2863 -971)
  (goto-xy 2436 -952)

  (goto-xy 2416 566)
  (goto-xy 2215 579)
  (tau-hop 0 90 700)
  (goto-xy 2069 589)
  (goto-xy 2093 667)

  ; Lets head back for some more shotgun and crossbow action
  (goto-xy 1294 1119)
  ; shotgun
  (goto-xy 853 1283)
  (goto-xy 729 1281)
  (goto-xy 668 1232)
  (goto-xy 609 1268)
  ; to ramp
  (goto-xy -54 857)
  (goto-xy -66 559)
  (goto-xy -260 578)
  (goto-xy -280 1264)
  ;crossbow again
  (goto-xy 338 1240)
  (goto-xy 420 1286)
  (goto-xy 479 1257)
  (goto-xy 400 1213)

  ; Go for more 357 ammo
  (goto-xy -54 857)
  (goto-xy -115 61)
  (goto-xy 15 -142)
  (goto-xy -276 -507)
  (goto-xy -328 -558)

  ; And now, lets head back to the laser mines
  (goto-xy -143 -637)
  (goto-xy 1150 -694)
  (goto-xy 1278 -704)
  (goto-xy 1732 290)

  ; Jump up on a box and get a refill on the tau cannon
  (tau-hop 245 90 700)
  (goto-xy 1797 329)
  (goto-xy 1806 395)
  (goto-xy 1849 300)
  (goto-xy 1907 356)
  ; leap across to the next box!
  (jump-and-go 2058 494)
  (goto-xy 2069 589)
  (goto-xy 2093 667)

  ; Let's head back for some more shotgun and crossbow action. Again.
  (goto-xy 1294 1119)
  ; shotgun
  (goto-xy 853 1283)
  (goto-xy 729 1281)
  (goto-xy 668 1232)
  (goto-xy 609 1268)
  ; to ramp
  (goto-xy -54 857)
  (goto-xy -66 559)
  (goto-xy -260 578)
  (goto-xy -280 1264)
  ;crossbow again
  (goto-xy 338 1240)
  (goto-xy 400 1213)
  (goto-xy 420 1286)
  (goto-xy 479 1257))


(define-signal main-signal
  (drive-hl-bot 
   two-minute-kill-behavior
   charge-tau-cannon
   select-weapon
   match-yaw-pitch
   jump-and-go
   goto-xy))

(define (doit)
  (load fname)
  (compile-to-c++ "npc" "c:/robots/jorschbot" main-signal path))

(define fname "c:/robots/jorschbot/bot.scm")
; ,load c:\robots\hl-bot-interface.scm
; ,open c-generator