Refactor creature ai

2021-05-20 21:25:42 +02:00
parent 4463dc7716
commit 114335fdbe
32 changed files with 449 additions and 270 deletions
@@ -0,0 +1,35 @@
+module Dodge.Creature.ArmourChase
+    where
+import Dodge.Data
+import Dodge.Default
+import Dodge.Creature.State
+import Dodge.Creature.Rationality
+import Dodge.Creature.ReaderUpdate
+import Dodge.Creature.AlertLevel
+import Dodge.Creature.ChooseTarget
+import Dodge.Creature.Picture
+import Dodge.Item.Equipment
+import Dodge.Item.Consumable
+import Picture
+
+import qualified Data.IntMap.Strict as IM
+import Control.Lens
+import Control.Monad.Reader
+
+armourChaseCrit :: Creature
+armourChaseCrit = defaultCreature
+    { _crUpdate = stateUpdate $ impulsiveAIR $ 
+        doStrategyActionsR >=>
+        performActionsR >=>
+        overrideMeleeCloseTargetR >=>
+        chaseTargetR targetYouLOS >=>
+        basicPerceptionUpdateR [0] >=>
+        targetYouWhenCognizantR >=>
+        return . (crMeleeCooldown . _Just %~ (max 0 . subtract 1))
+    , _crHP = 300
+    , _crPict = basicCrPict green
+    , _crInv = IM.fromList 
+        [(0,frontArmour)
+        ,(1,medkit 200)
+        ]
+    }
@@ -21,7 +21,7 @@ import qualified Data.IntMap.Strict as IM
 autoCrit :: Creature
 autoCrit = defaultCreature
    { _crPict = basicCrPict red
-    , _crUpdate = stateUpdate $ impulsiveAIR $ sentinelAI
+    , _crUpdate = stateUpdate $ impulsiveAIR sentinelAI
    , _crActionPlan = ActionPlan
        { _crImpulse    = []
        , _crAction     = []
@@ -0,0 +1,255 @@
+module Dodge.Creature.Boid
+    where
+import Dodge.Data
+import Dodge.Base
+import Dodge.Creature.State.Data
+import Dodge.Creature.ImpulseRat
+import Geometry
+
+import Control.Monad.Reader
+import Control.Lens
+import qualified Data.IntMap as IM
+
+interpWith :: Float -> Point2 -> Point2 -> Point2
+interpWith x a b = x *.* a +.+ (1 - x) *.* b
+
+invertEncircleDistP :: Float -> Creature -> Point2 -> Creature -> Point2
+invertEncircleDistP d tcr cenp cr = ypos +.+ 
+    d *.* (reflectIn (cenp -.- ypos) $ safeNormalizeV (cpos -.- cenp))
+  where 
+    cpos = _crPos cr
+    ypos = _crPos tcr
+
+encircleDistP :: Float -> Creature -> Point2 -> Creature -> Point2
+encircleDistP d tcr cenp cr = ypos +.+ d *.* safeNormalizeV (cpos -.- cenp)
+  where 
+    cpos = _crPos cr
+    ypos = _crPos tcr
+
+encircleP :: Creature -> Point2 -> Creature -> Point2
+encircleP tcr cenp cr = ypos +.+ 50 *.* safeNormalizeV (cpos -.- cenp)
+  where 
+    cpos = _crPos cr
+    ypos = _crPos tcr
+    --f x = 150 * sigmoid (x-10)
+
+encircleCloseP :: Creature -> Point2 -> Creature -> Point2
+encircleCloseP tcr cenp cr = ypos +.+ f (max 0 (magV (ypos -.- cenp) - 80) ) *.* safeNormalizeV (cpos -.- cenp)
+  where 
+    cpos = _crPos cr
+    ypos = _crPos tcr
+    f x = 150 * sigmoid (x-10)
+
+forbidFlee
+    :: (Creature -> Point2 -> Creature -> Point2)
+    -> Creature 
+    -> Point2 
+    -> Creature 
+    -> Point2
+forbidFlee f tcr cenp cr
+    | ptargTest = tpos
+    | otherwise = ptarg
+  where
+    cpos = _crPos cr
+    tpos = _crPos tcr
+    ptarg = f tcr cenp cr
+    ptargTest = isLHS cpos (cpos +.+ rotateV (negate (pi/2)) (cpos -.- tpos)) ptarg
+    --      && isRHS cpos (cpos +.+ rotateV (pi/3) (cpos -.- tpos)) ptarg
+    --targBehindCrit = isLHS cpos (vNormal $ cpos +.+ unitVectorAtAngle (_crDir cr)) ptarg
+
+pincerP :: Creature -> Point2 -> Creature -> Point2
+pincerP tcr cenp cr = tpos +.+ splitp -- +.+ 25 *.* (normalizeV $ tpos -.- cenp)
+  where 
+    cpos = _crPos cr
+    tpos = _crPos tcr
+    splitp 
+        | isLHS cenp cpos tpos
+            = 150 *.* orthCenpTpos
+        | otherwise
+            = negate 150 *.* orthCenpTpos
+    --d = min 150 (dist cpos tpos)
+    --orthCenpTpos = safeNormalizeV (vNormal $ tpos -.- cpos)
+    orthCenpTpos = safeNormalizeV (vNormal $ tpos -.- cenp)
+
+pincerP''' :: Creature -> Point2 -> Creature -> Point2
+pincerP''' tcr cenp cr = interpWith (sigmoid $ 0.05 * dtcen) cenawayp cenclosep
+  where 
+    cpos = _crPos cr
+    tpos = _crPos tcr
+    dtcen = dist tpos cenp
+    f x = 150 * sigmoid (x-10)
+    cenawayp 
+        | dist cenp tpos < dist cpos tpos = tpos +.+ splitp
+        | otherwise = cenp +.+ splitp
+    splitp 
+        | isLHS cenp cpos tpos
+            = f (max 0 (magV (tpos -.- cenp) - 80) ) *.* orthCenpTpos
+        | otherwise
+            = negate ( f $ max 0 $ magV (tpos -.- cenp) - 80) *.* orthCenpTpos
+    orthCenpTpos = safeNormalizeV (vNormal $ tpos -.- cenp)
+    cenclosep 
+            = tpos +.+ f (max 0 (magV (tpos -.- cenp) - 80) ) *.* safeNormalizeV (cpos -.- cenp)
+
+pincerP' :: Creature -> Point2 -> Creature -> Point2
+pincerP' tcr cenp cr 
+    | dist cenp tpos > dist cpos tpos 
+                = cenp +.+ f (max 0 (magV (tpos -.- cenp) - 80) ) *.* safeNormalizeV (cpos -.- cenp)
+    | otherwise = tpos +.+ f (max 0 (magV (tpos -.- cenp) - 80) ) *.* safeNormalizeV (cpos -.- cenp)
+  where 
+    cpos = _crPos cr
+    tpos = _crPos tcr
+    f x = 150 * sigmoid (x-10)
+
+pincerP'' :: Creature -> Point2 -> Creature -> Point2
+pincerP'' tcr cenp cr 
+    | dist cenp tpos > dist cpos tpos && isLHS cenp cpos tpos
+        = cenp +.+ f (max 0 (magV (tpos -.- cenp) - 80) ) *.* safeNormalizeV (vNormal $ tpos -.- cenp)
+    | dist cenp tpos > dist cpos tpos 
+        = cenp +.+ f (max 0 (magV (tpos -.- cenp) - 80) ) *.* safeNormalizeV (vNormal $ cenp -.- tpos)
+    | otherwise = tpos +.+ f (max 0 (magV (tpos -.- cenp) - 80) ) *.* safeNormalizeV (cpos -.- cenp)
+  where 
+    cpos = _crPos cr
+    tpos = _crPos tcr
+    f x = 150 * sigmoid (x-10)
+
+encircle :: Creature -> IM.IntMap Creature -> Creature -> Point2
+encircle tcr crs cr 
+    | length crs <= 1 = ypos
+    | otherwise       = ypos +.+ f (max 0 (magV (ypos -.- cenp) - 80) ) *.* safeNormalizeV (cpos -.- cenp)
+  where 
+    cpos = _crPos cr
+    ypos = _crPos tcr
+    f x = 150 * sigmoid (x-10)
+    cenp = centroid (map _crPos $ IM.elems crs)
+
+lineOrth :: Creature -> IM.IntMap Creature -> Creature -> Point2
+lineOrth tcr crs cr = p
+  where 
+    ypos = _crPos tcr
+    cpos = _crPos cr
+    ps = map _crPos $ IM.elems crs 
+    cen = (1 / fromIntegral (length ps)) *.* foldr1 (+.+) ps
+    p   | dist cen ypos < 20 = ypos
+        | otherwise = errorClosestPointOnLine 500 ypos (ypos +.+ vNormal (cen -.- ypos)) cpos
+
+holdForm :: Creature -> IM.IntMap Creature -> Creature -> Point2
+holdForm ycr crs cr = p
+  where
+    ypos = _crPos ycr
+    cpos = _crPos cr
+    ps = map _crPos $ IM.elems crs 
+    cen = (1 / fromIntegral (length ps)) *.* foldr1 (+.+) ps
+    p   | dist cen ypos < 20 = ypos
+        | otherwise = ypos +.+ cpos -.- cen
+
+lineUp :: Creature -> IM.IntMap Creature -> Creature -> Point2
+lineUp ycr crs cr = p
+  where
+    ypos = _crPos ycr
+    cpos = _crPos cr
+    ps = map _crPos $ IM.elems crs 
+    cen = (1 / fromIntegral (length ps)) *.* foldr1 (+.+) ps
+    p = (0.05 *.* ypos) +.+ (0.95 *.* errorClosestPointOnLine 500 cen ypos cpos)
+
+-- not nice, a kind of encircle
+spreadOut :: Creature -> IM.IntMap Creature -> Creature -> Point2
+spreadOut ycr crs cr = p
+  where
+    ypos = _crPos ycr
+    cpos = _crPos cr
+    ps = map _crPos $ IM.elems crs 
+    cen = (1 / fromIntegral (length ps)) *.* foldr1 (+.+) ps
+    p   | dist cen ypos < 30 = ypos
+        | otherwise = ypos +.+ (spreadFactor *.* cpos -.- cen)
+    spreadFactor 
+        | dist ypos cpos > 90 = 1
+        | otherwise = 1.5
+
+swarmUsingCenter
+    :: (Creature -> Point2 -> Creature -> Creature) 
+    -> (Point2 -> Creature -> Creature)
+    -> World
+    -> Creature
+    -> Creature
+swarmUsingCenter updT upd w cr = case _crTarget cr of
+    Nothing -> upd cenp cr
+    Just tcr -> updT tcr cenp cr
+  where
+    cid = _crID cr
+    cenp = _crGroupCenter $ _creatureGroups w IM.! _crGroupID (_crGroup $ _creatures w IM.! cid)
+
+flockChaseTarget
+    :: (Creature -> IM.IntMap Creature -> Creature -> Creature) -- ^ Update with target
+    -> (IM.IntMap Creature -> Creature -> Creature) -- ^ Update without target
+    -> World
+    -> Creature
+    -> Creature
+flockChaseTarget updT upd w cr = case _crTarget cr of
+    Nothing -> upd crs cr
+    Just tcr -> updT tcr crs cr
+  where
+    is = _swarm $ _crGroup cr
+    crs = IM.restrictKeys (_creatures w) is
+
+flockPointTarget
+    :: (Creature -> IM.IntMap Creature -> Creature -> Point2)
+    -> (Creature -> World -> Maybe Creature)    -- ^ Function for determining target
+    -> World 
+    -> Creature 
+    -> Creature 
+flockPointTarget f targFunc w cr = case targFunc cr w of
+    Nothing -> cr
+    Just crTarg -> cr & crActionPlan . crImpulse .~ mvPointMeleeTarg p cr crTarg
+      where
+        is = _swarm $ _crGroup cr
+        crs = IM.restrictKeys (_creatures w) is
+        p = f crTarg crs cr
+
+flockToPointUsing
+    :: (Creature -> Point2 -> Creature -> Point2)
+    -> (Point2 -> Creature -> Creature -> [Impulse])
+    -> Creature
+    -> Reader World Creature
+flockToPointUsing pf mvf cr = reader $ \w -> case _crTarget cr of
+    Nothing -> cr
+    Just tcr -> cr & crActionPlan . crImpulse .~ mvf ptarg cr tcr
+      where
+        cenp = _crGroupCenter $ _creatureGroups w IM.! _crGroupID (_crGroup cr)
+        ptarg = pf tcr cenp cr
+
+flockFunc
+    :: (Creature -> Point2 -> Creature -> Point2)
+    -> (Creature -> World -> Maybe Creature)    -- ^ Function for determining target
+    -> Creature 
+    -> Reader World Creature 
+flockFunc f targFunc cr = reader $ \w -> case targFunc cr w of
+    Nothing -> cr
+    Just crTarg -> cr & crActionPlan . crImpulse .~ mvPointMeleeTarg p cr crTarg
+      where
+        cenp = _crGroupCenter $ _creatureGroups w IM.! (_crGroupID (_crGroup cr))
+        p = f crTarg cenp cr
+
+flockCenterFunc
+    :: (Creature -> Point2 -> Creature -> Point2)
+    -> (Creature -> World -> Maybe Creature)    -- ^ Function for determining target
+    -> Creature 
+    -> Reader World Creature 
+flockCenterFunc f targFunc cr = reader $ \w -> case targFunc cr w of
+    Nothing -> cr
+    Just crTarg -> cr & crActionPlan . crImpulse .~ mvPointMeleeTarg p cr crTarg
+      where
+        cenp = _crGroupCenter $ _creatureGroups w IM.! (_crGroupID (_crGroup cr))
+        p = f crTarg cenp cr
+
+flockPointTargetR
+    :: (Creature -> IM.IntMap Creature -> Creature -> Point2)
+    -> (Creature -> World -> Maybe Creature)    -- ^ Function for determining target
+    -> Creature 
+    -> Reader World Creature 
+flockPointTargetR f targFunc cr = reader $ \w -> case targFunc cr w of
+    Nothing -> cr
+    Just crTarg -> cr & crActionPlan . crImpulse .~ mvPointMeleeTarg p cr crTarg
+      where
+        is = _swarm $ _crGroup cr
+        crs = IM.restrictKeys (_creatures w) is
+        p = f crTarg crs cr
@@ -1,130 +1,14 @@
 module Dodge.Creature.ImpulseRat
    where
 import Dodge.Data
-import Dodge.Base
+--import Dodge.Base
 --import Dodge.Creature.ChooseTarget
-import Dodge.Creature.State.Data
+--import Dodge.Creature.State.Data
 import Geometry

-import qualified Data.IntMap as IM
+--import qualified Data.IntMap as IM
 import Control.Lens
-import Control.Monad.Reader
-
-encircle :: Creature -> IM.IntMap Creature -> Creature -> Point2
-encircle tcr crs cr 
-    | length crs <= 1 = ypos
-    | otherwise       = ypos +.+ f (max 0 (magV (ypos -.- cenp) - 80) ) *.* safeNormalizeV (cpos -.- cenp)
-  where 
-    cpos = _crPos cr
-    ypos = _crPos tcr
-    f x = 150 * sigmoid (x-10)
-    cenp = (1 / fromIntegral (length crs)) *.* foldr1 (+.+) (map _crPos $ IM.elems crs)
-
-lineOrth :: Creature -> IM.IntMap Creature -> Creature -> Point2
-lineOrth tcr crs cr = p
-  where 
-    ypos = _crPos tcr
-    cpos = _crPos cr
-    ps = map _crPos $ IM.elems crs 
-    cen = (1 / fromIntegral (length ps)) *.* foldr1 (+.+) ps
-    p   | dist cen ypos < 20 = ypos
-        | otherwise = errorClosestPointOnLine 500 ypos (ypos +.+ vNormal (cen -.- ypos)) cpos
-
-holdForm :: Creature -> IM.IntMap Creature -> Creature -> Point2
-holdForm ycr crs cr = p
-  where
-    ypos = _crPos ycr
-    cpos = _crPos cr
-    ps = map _crPos $ IM.elems crs 
-    cen = (1 / fromIntegral (length ps)) *.* foldr1 (+.+) ps
-    p   | dist cen ypos < 20 = ypos
-        | otherwise = ypos +.+ cpos -.- cen
-
-lineUp :: Creature -> IM.IntMap Creature -> Creature -> Point2
-lineUp ycr crs cr = p
-  where
-    ypos = _crPos ycr
-    cpos = _crPos cr
-    ps = map _crPos $ IM.elems crs 
-    cen = (1 / fromIntegral (length ps)) *.* foldr1 (+.+) ps
-    p = (0.05 *.* ypos) +.+ (0.95 *.* errorClosestPointOnLine 500 cen ypos cpos)
-
-- not nice, a kind of encircle
-spreadOut :: Creature -> IM.IntMap Creature -> Creature -> Point2
-spreadOut ycr crs cr = p
-  where
-    ypos = _crPos ycr
-    cpos = _crPos cr
-    ps = map _crPos $ IM.elems crs 
-    cen = (1 / fromIntegral (length ps)) *.* foldr1 (+.+) ps
-    p   | dist cen ypos < 30 = ypos
-        | otherwise = ypos +.+ (spreadFactor *.* cpos -.- cen)
-    spreadFactor 
-        | dist ypos cpos > 90 = 1
-        | otherwise = 1.5
-
-swarmUsingCenter
-    :: (Creature -> Point2 -> Creature -> Creature) 
-    -> (Point2 -> Creature -> Creature)
-    -> World
-    -> Creature
-    -> Creature
-swarmUsingCenter updT upd w cr = case _crTarget cr of
-    Nothing -> upd cenp cr
-    Just tcr -> updT tcr cenp cr
-  where
-    cid = _crID cr
-    cenp = _crGroupCenter $ _creatureGroups w IM.! (_crGroupID $ _crGroup $ _creatures w IM.! cid)
-
-flockChaseTarget
-    :: (Creature -> IM.IntMap Creature -> Creature -> Creature) -- ^ Update with target
-    -> (IM.IntMap Creature -> Creature -> Creature) -- ^ Update without target
-    -> World
-    -> Creature
-    -> Creature
-flockChaseTarget updT upd w cr = case _crTarget cr of
-    Nothing -> upd crs cr
-    Just tcr -> updT tcr crs cr
-  where
-    is = _swarm $ _crGroup cr
-    crs = IM.restrictKeys (_creatures w) is
-
-flockPointTarget
-    :: (Creature -> IM.IntMap Creature -> Creature -> Point2)
-    -> (Creature -> World -> Maybe Creature)    -- ^ Function for determining target
-    -> World 
-    -> Creature 
-    -> Creature 
-flockPointTarget f targFunc w cr = case targFunc cr w of
-    Nothing -> cr
-    Just crTarg -> cr & crActionPlan . crImpulse .~ chaseTarg' p cr crTarg
-      where
-        is = _swarm $ _crGroup cr
-        crs = IM.restrictKeys (_creatures w) is
-        p = f crTarg crs cr
-
-flockPointTargetR
-    :: (Creature -> IM.IntMap Creature -> Creature -> Point2)
-    -> (Creature -> World -> Maybe Creature)    -- ^ Function for determining target
-    -> Creature 
-    -> Reader World Creature 
-flockPointTargetR f targFunc cr = reader $ \w -> case targFunc cr w of
-    Nothing -> cr
-    Just crTarg -> cr & crActionPlan . crImpulse .~ chaseTarg' p cr crTarg
-      where
-        is = _swarm $ _crGroup cr
-        crs = IM.restrictKeys (_creatures w) is
-        p = f crTarg crs cr
-
-
--swarmUseCenter
--    :: (Creature -> Point2 -> Creature -> Point2)
--    :: (Creature -> IM.IntMap Creature -> Creature -> Point2)
--    -> (Creature -> World -> Maybe Creature)    -- ^ Function for determining target
--    -> World 
--    -> Creature 
--    -> Creature 
--swarmUseCenter
+--import Control.Monad.Reader


 chaseTarget
@@ -149,9 +33,34 @@ overrideMeleeCloseTarget _ cr = case _crTarget cr of
  where
    cpos = _crPos cr

+meleeHeadingMove
+    :: Float -- ^ max turn speed
+    -> Float -- ^ min turn speed
+    -> Float -- ^ turn speed cutoff angle
+    -> Float -- ^ move speed
+    -> Point2 -- ^ target point
+    -> Creature -- ^ start creature
+    -> Creature -- ^ target creature
+    -> [Impulse]
+meleeHeadingMove maxta minta tacutoff speed tp cr tcr
+    | dist tpos cpos < combinedRad + 5 
+            && abs (_crDir cr - argV (tpos -.- cpos)) < tacutoff
+            && _crMeleeCooldown cr == Just 0
+        = [Melee (_crID tcr), Turn pi]
+    | dist tpos cpos < combinedRad + 5 
+            && abs (_crDir cr - argV (tpos -.- cpos)) < tacutoff
+        = [ TurnToward tpos minta ]
+    | abs (_crDir cr - argV (tp -.- cpos)) < tacutoff
+                = [MoveForward speed , TurnToward tp maxta , RandomTurn maxta ]
+    | otherwise = [MoveForward speed , TurnToward tp minta, RandomTurn maxta ]
+  where
+    cpos = _crPos cr
+    tpos = _crPos tcr
+    combinedRad = _crRad cr + _crRad tcr
+    

-chaseTarg' :: Point2 -> Creature -> Creature -> [Impulse]
-chaseTarg' p cr crT
+mvPointMeleeTarg :: Point2 -> Creature -> Creature -> [Impulse]
+mvPointMeleeTarg p cr crT
    | dist tpos cpos < combinedRad + 5 
            && abs (_crDir cr - argV (tpos -.- cpos)) < pi/4
            && _crMeleeCooldown cr == Just 0
@@ -160,8 +69,8 @@ chaseTarg' p cr crT
            && abs (_crDir cr - argV (tpos -.- cpos)) < pi/4
        = [ TurnToward tpos 0.05 ]
    | abs (_crDir cr - argV (p -.- cpos)) < pi/4
-                = [MoveForward 2.5 , TurnToward p 0.2 , RandomTurn 0.2 ]
-    | otherwise = [MoveForward 2.5 , TurnToward p 0.05, RandomTurn 0.2 ]
+                = [MoveForward 3 , TurnToward p 0.2 , RandomTurn 0.2 ]
+    | otherwise = [MoveForward 3 , TurnToward p 0.05, RandomTurn 0.2 ]
  where
    cpos = _crPos cr
    tpos = _crPos crT
@@ -36,8 +36,9 @@ launcherCrit = defaultCreature
        >=> doStrategyActionsR
        >=> reloadOverrideR
        >=> targetYouWhenCognizantR
-        >=> (overrideInternalR (onBoth (&&) crHasTarget (crStratConMatches (GetTo (0,0))))
-            $ \ _ -> crActionPlan . crStrategy .~ WatchAndWait)
+        >=> overrideInternalR    
+            (onBoth (&&) crHasTarget (crStratConMatches (GetTo (0,0))))
+            (\ _ -> crActionPlan . crStrategy .~ WatchAndWait)
    , _crActionPlan = ActionPlan
        { _crImpulse    = []
        , _crAction     = []
@@ -44,8 +44,9 @@ ltAutoCrit = defaultCreature
        >=> doStrategyActionsR
        >=> reloadOverrideR
        >=> targetYouWhenCognizantR
-        >=> (overrideInternalR (onBoth (&&) crHasTarget (crStratConMatches (GetTo (0,0))))
-            $ \ _ -> crActionPlan . crStrategy .~ WatchAndWait)
+        >=> overrideInternalR 
+            (onBoth (&&) crHasTarget (crStratConMatches (GetTo (0,0))))
+            (\ _ -> crActionPlan . crStrategy .~ WatchAndWait)
    , _crActionPlan = ActionPlan
        { _crImpulse    = []
        , _crAction     = []
@@ -6,7 +6,7 @@ module Dodge.Creature.Picture
    , circLine
    ) where
 import Dodge.Data
-import Dodge.Creature.Stance.Data
+--import Dodge.Creature.Stance.Data
 import Dodge.Creature.State.Data
 --import Dodge.Creature.AlertLevel.Data
 import Dodge.Picture.Layer
@@ -67,7 +67,7 @@ drawEquipment
 drawEquipment cr = pictures $ map f $ IM.toList (_crInv cr)
  where 
    f (i,it) = case it ^? itEquipPict of
-        Just g | (cr ^? crStance . posture) == Just Aiming -> g cr i
+        Just g -> g cr i
        _      -> blank

 circLine :: Float -> Picture
@@ -28,7 +28,9 @@ impulsiveAIR
    -> (World -> World, StdGen)
    -> Creature
    -> ((World -> World, StdGen) , Maybe Creature)
-impulsiveAIR impf w (f,g) cr = followImpulses w (f,g) . ($ w) . runReader . impf $ cr
+impulsiveAIR impf w (f,g) = followImpulses w (f,g') . ($ w) . runReader . impf
+  where
+    (g',_) = split g

 impulsiveAI 
    :: (World -> Creature -> Creature) -- ^ Internal AI update, should determine impulses
@@ -67,7 +67,7 @@ reloadOverrideR cr
    | cr ^? crInv . ix (_crInvSel cr) . wpLoadedAmmo == Just 0 
            && cr ^. crStance . posture == Aiming
        = return $ cr & crActionPlan . crStrategy .~ StrategyActions Reload reloadActions
-    | otherwise = return $ cr
+    | otherwise = return cr
  where
    reloadActions = 
        [ holsterWeapon
@@ -48,7 +48,6 @@ sentinelAI = sentinelExtraWatchUpdate
        )
      ] 
    >=> reloadOverrideR
-  where

 sentinelFireType
    :: (Int -> Action)
@@ -66,8 +65,9 @@ sentinelFireType f = performActionsR
    >=> doStrategyActionsR
    >=> reloadOverrideR
    >=> targetYouWhenCognizantR
-    >=> (overrideInternalR (onBoth (&&) crHasTarget (crStratConMatches (GetTo (0,0))))
-      $ \ _ -> crActionPlan . crStrategy .~ WatchAndWait)
+    >=> overrideInternalR 
+        (onBoth (&&) crHasTarget (crStratConMatches (GetTo (0,0))))
+        (\ _ -> crActionPlan . crStrategy .~ WatchAndWait)
  where
    drawwp = DoActionIfElse NoAction crIsAiming (DoActionThen drawWeapon (WaitThen 50 NoAction))
    aiming = AimAtCloseSlow 
@@ -89,8 +89,8 @@ sentinelExtraWatchUpdate xs = performActionsR
    >=> doStrategyActionsR
 --    >=> reloadOverrideR
    >=> targetYouWhenCognizantR
-    >=> (overrideInternalR (onBoth (&&) crHasTarget (crStratConMatches (GetTo (0,0))))
-      $ \ _ -> crActionPlan . crStrategy .~ WatchAndWait)
+    >=> overrideInternalR (onBoth (&&) crHasTarget (crStratConMatches (GetTo (0,0))))
+      (\ _ -> crActionPlan . crStrategy .~ WatchAndWait)


 shootAtAdvance :: Int -> [Action]
@@ -44,8 +44,8 @@ spreadGunCrit = defaultCreature
        >=> doStrategyActionsR
        >=> reloadOverrideR
        >=> targetYouWhenCognizantR
-        >=> (overrideInternalR (onBoth (&&) crHasTarget (crStratConMatches (GetTo (0,0))))
-          $ \ _ -> crActionPlan . crStrategy .~ WatchAndWait)
+        >=> overrideInternalR (onBoth (&&) crHasTarget (crStratConMatches (GetTo (0,0))))
+          (\ _ -> crActionPlan . crStrategy .~ WatchAndWait)
    , _crActionPlan = ActionPlan
        { _crImpulse    = []
        , _crAction     = []
@@ -5,10 +5,11 @@ module Dodge.Creature.SwarmCrit
 import Dodge.Data
 import Dodge.Default
 import Dodge.Creature.Picture
+import Dodge.Creature.Boid
 --import Dodge.Creature.Test
 --import Dodge.Creature.ActionRat
 import Dodge.Creature.ImpulseRat
-import Dodge.Creature.ChooseTarget
+--import Dodge.Creature.ChooseTarget
 --import Dodge.Creature.SetTarget
 import Dodge.Creature.Rationality
 import Dodge.Creature.ReaderUpdate
@@ -30,7 +31,7 @@ import Control.Monad.Reader
 swarmCrit :: Creature
 swarmCrit = defaultCreature
    { _crUpdate = stateUpdate $ impulsiveAIR $
-        flockPointTargetR encircle targetYouLOS
+        flockToPointUsing (encircleDistP (100)) (meleeHeadingMove 0.1 0.1 (pi/4) 3.9)
        >=> return . (crMeleeCooldown . _Just %~ (max 0 . subtract 1))
        >=> basicPerceptionUpdateR [0]
        >=> doStrategyActionsR
@@ -46,3 +47,12 @@ swarmCrit = defaultCreature
    , _crFaction = ColorFaction yellow
    , _crMeleeCooldown = Just 0
    }
+
+--swarmCritMoveFunc :: Creature -> Point2 -> Creature -> Point2
+--swarmCritMoveFunc tcr cenp cr 
+--    | targBehindCrit 
+--  where
+--    cpos = _crPos cr
+--    ypos = _crPos tcr
+
+
@@ -24,7 +24,7 @@ yourControl w (f,g) cr =
    , Just . mouseActionsCr (_mouseButtons w) $ wasdWithAiming w speed 0 cr
    )
  where 
-    speed = _varMovementSpeedModifier w * equipFactor
+    speed = 3 * equipFactor
    equipFactor = product $ map equipSpeed $ IM.elems $ _crInv $ _creatures w IM.! 0
 {- | Turn key presses into creature movement.  -}
 wasdWithAiming 
@@ -50,7 +50,6 @@ wasdWithAiming w speed i cr
                                    *.* rotateV (_cameraRot w) (_mousePos w)
        _ -> normalizeAngle $ argV (_mousePos w) + _cameraRot w

-
 wasdM :: World -> SDL.Scancode -> Point2
 wasdM w scancode 
 | scancode == moveUpKey    (_keyConfig w) = ( 0, 1)