Improve chase crit searching

src/Dodge/Creature/ReaderUpdate.hs

@@ -7,7 +7,7 @@ module Dodge.Creature.ReaderUpdate
     , watchUpdateStrat
     , reloadOverride
     , overrideInternal
-    , turnIfDamaged
+    , searchIfDamaged
     , goToTarget
     , flockACC
     , chaseCritMv
@@ -19,6 +19,7 @@ import Dodge.Creature.Test
 import Dodge.Creature.Volition
 import Dodge.Base
 import Dodge.Zone
+import Dodge.Path
 import Geometry
 
 import qualified Data.IntMap.Strict as IM
@@ -93,7 +94,9 @@ chaseCritMv w cr = case _apStrategy (_crActionPlan cr) of
     StrategyActions _ _ -> cr
     WarningCry -> cr
     _ -> case cr ^? crIntention . mvToPoint . _Just of
-        Just p -> cr & crActionPlan . apAction .~ [PathTo p]
+        Just p | dist (_crPos cr) p > _crRad cr -> cr & crActionPlan . apAction .~ [PathTo p]
+            | otherwise -> cr & crActionPlan . apAction .~ [bfsThenReturn 500]
+                & crIntention . mvToPoint .~ Nothing
         _ -> viewTarget w cr
 
 goToTarget :: World -> Creature -> Creature
@@ -102,11 +105,18 @@ goToTarget w cr =
         Just p -> cr & crActionPlan . apAction .~ [PathTo p]
         _ -> viewTarget w cr
 
+lookAroundSelf :: Action
+lookAroundSelf = UseSelf $ \cr -> TurnToPoint (_crPos cr -.- 10 *.* unitVectorAtAngle (_crDir cr))
+
 viewTarget :: World -> Creature -> Creature
 viewTarget w cr = do
     case cr ^? crIntention . viewPoint . _Just of
         Just p | hasLOSIndirect p (_crPos cr) w -> cr'
-                    & crActionPlan . apAction %~ replaceNullWith (TurnToA p)
+                    & crActionPlan . apAction %~ replaceNullWith 
+                        (TurnToPoint p 
+                            `DoActionThen` 40 `WaitThen` lookAroundSelf
+                            `DoActionThen` 20 `WaitThen` lookAroundSelf
+                        )
                     & crIntention . viewPoint .~ Nothing
                | otherwise -> cr' & crActionPlan . apAction %~ replaceNullWith (PathTo p)
         Nothing -> cr-- & crPerception . crAwakeLevel .~ Lethargic
@@ -119,7 +129,8 @@ replaceNullWith _ xs = xs
     
 doStrategyActions :: Creature -> Creature
 doStrategyActions cr = case cr ^? crActionPlan . apStrategy of
-    Just (StrategyActions strat acs) -> cr & crActionPlan . apAction .~ acs
+    Just (StrategyActions strat acs) -> cr 
+        & crActionPlan . apAction .~ acs
         & crActionPlan . apStrategy .~ strat
     _ -> cr
 
@@ -165,10 +176,24 @@ targetYouWhenCognizant w cr = case cr ^? crPerception . cpAwareness . ix 0 of
     Just (Cognizant _)  -> _creatures w IM.! 0 `seq` cr & crIntention . targetCr ?~ _creatures w IM.! 0
     _                   -> cr & crIntention . targetCr .~ Nothing
 
-turnIfDamaged :: Creature -> Creature
-turnIfDamaged cr
+searchIfDamaged :: Creature -> Creature
+searchIfDamaged cr
     | _crPastDamage cr > 0 = case _apStrategy (_crActionPlan cr) of
         WatchAndWait -> cr & crPerception . cpVigilance .~ Vigilant
-            & crActionPlan . apStrategy .~ StrategyActions LookAround [TurnToA (_crPos cr -.- unitVectorAtAngle (_crDir cr))]
+            & crActionPlan . apStrategy .~ StrategyActions LookAround 
+                [(TurnToPoint (_crPos cr -.- unitVectorAtAngle (_crDir cr)))
+                `DoActionThen` 40 `WaitThen` bfsThenReturn 500
+                ]
         _ -> cr
     | otherwise = cr
+
+bfsThenReturn :: Int -> Action
+bfsThenReturn t = ArbitraryAction theaction
+  where
+    theaction cr w = fromMaybe NoAction $ do
+        n <- walkableNodeNear w (_crPos cr)
+        let as = take 20 $ map PathTo $ bfsNodePoints n w
+        return $ DoReplicate t $
+            foldr DoActionThen NoAction as
+        
+