Start ai cleanup

2021-09-05 22:27:31 +01:00
parent 68ba11aa91
commit e366698064
19 changed files with 352 additions and 489 deletions
@@ -18,6 +18,7 @@ import Dodge.Creature.State.Data
 --import Dodge.Creature.SetTarget
 import Dodge.Creature.Volition
 import Dodge.Creature.Test
+import Dodge.Creature.Impulse
 import Dodge.Creature.SentinelAI
 import Dodge.Creature.LauncherCrit
 import Dodge.Creature.PistolCrit
@@ -40,7 +41,6 @@ import Dodge.Creature.YourControl
 import Dodge.Creature.Inanimate
 import Dodge.Creature.State
 import Dodge.Creature.Picture
-import Dodge.Creature.Rationality
 --import Dodge.Creature.ChooseTarget
 --import Dodge.Item
 import Dodge.Picture.Layer
@@ -65,6 +65,7 @@ spawnerCrit = defaultCreature
    , _crPict = basicCrPict blue
    , _crInv = IM.empty -- IM.fromList [(0,frontArmour)]
    }
+
 miniGunCrit :: Creature
 miniGunCrit = defaultCreature
    { _crPict = basicCrPict red
@@ -1,15 +1,12 @@
 {- | Actions performed by creatures within the world
 -}
 module Dodge.Creature.Action 
-    ( module Dodge.Creature.Action
-    , module Dodge.Creature.Action.UseItem
-    , module Dodge.Creature.Action.Movement
-    )
+--    ( module Dodge.Creature.Action
+--    , module Dodge.Creature.Action.UseItem
+--    , module Dodge.Creature.Action.Movement
+--    )
    where
-import Dodge.Creature.Action.UseItem
-import Dodge.Creature.Action.Movement
 import Dodge.Creature.Stance.Data
--import Dodge.Creature.State.Data
 import Dodge.WorldEvent.Shockwave
 import Dodge.Data
 import Dodge.Base
@@ -30,7 +27,89 @@ import Control.Lens
 import Data.Maybe
 --import Data.List
 import System.Random
+import Control.Monad.Reader
 --import qualified Data.Map as M
+performActions :: World -> Creature -> Creature
+performActions w cr = cr
+    & crActionPlan . crImpulse .~ concat iss
+    & crActionPlan . crAction .~ catMaybes mayas
+  where
+    (iss, mayas) = unzip $ map (performAction cr w) $ cr ^. crActionPlan . crAction
+
+performActionsR :: Creature -> Reader World Creature
+performActionsR cr = reader $ \w -> performActions w cr
+
+{- | Performing an action means that a creature has some impulses for a frame, and
+ updates or deletes the action itself. 
+-- doAction -}
+performAction 
+    :: Creature
+    -> World
+    -> Action
+    -> ( [Impulse] , Maybe Action )
+performAction cr w ac = case ac of
+    AimAt tcid p
+        -> ([TurnToward tpos aimSp], Just $ AimAt tcid tpos)
+      where
+        canSee' = canSee (_crID cr) tcid w
+        aimSp = case cr ^? crMvType . mvAimSpeed of
+            Just f -> f $ safeAngleVV (unitVectorAtAngle cdir) (tpos - cpos)
+            Nothing -> error "creature without aiming type"
+        tpos | canSee' = _crPos (_creatures w IM.! tcid)
+             | otherwise = p
+    WaitThen 0 newAc -> ([] , Just newAc)
+    WaitThen t newAc -> ([] , Just (WaitThen (t-1) newAc))
+    ImpulsesList (xs:xss) -> (xs, Just $ ImpulsesList xss)
+    ImpulsesList _  -> ([], Nothing)
+    DoImpulses imps -> (imps, Nothing)
+    DoActionThen fsta afta -> case performAction cr w fsta of
+        (imps , Just nxta) -> (imps, Just (DoActionThen nxta afta))
+        (imps , Nothing  ) -> (imps, Just afta)
+    DoActionWhile f act -> performAction cr w $ DoActionWhilePartial act f act
+    DoActionWhilePartial partAc f resetAc
+        | f (w,cr) -> case performAction cr w partAc of
+            (imps, Just nxta) -> (imps, Just $ DoActionWhilePartial nxta f resetAc)
+            (imps, Nothing)   -> (imps, Just $ DoActionWhilePartial resetAc f resetAc)
+        | otherwise -> performAction cr w partAc
+    DoActionIf f ifa
+        | f (w,cr) -> performAction cr w ifa
+        | otherwise -> ([],Nothing)
+    DoActionIfElse ifa f elsea
+        | f (w,cr)  -> performAction cr w ifa
+        | otherwise -> performAction cr w elsea
+    DoActionWhileInterrupt repa f afta
+        | f (w,cr)  -> (fst $ performAction cr w repa, Just $ DoActionWhileInterrupt repa f afta)
+        | otherwise -> performAction cr w afta
+    DoActions [] -> ([], Nothing)
+    DoActions acs -> 
+        let (imps, newAcs) = unzip $ map (performAction cr w) acs
+        in (concat imps, Just . DoActions $ catMaybes newAcs)
+    StartSentinelPost -> ([AddGoal $ SentinelAt (_crPos cr) (_crDir cr)], Nothing)
+    PathTo p
+        | dist cpos p < 5 -> ([], Nothing)
+        | hasLOS cpos p w -> ([MvTurnToward p,MvForward] , Just (PathTo p))
+        | otherwise       -> ([], Nothing)
+    LeadTarget p -> case cr ^? crTarget . _Just of
+        Just tcr -> ([TurnTo (_crPos tcr +.+ rotateV (_crDir tcr) p)], Nothing)
+        _        -> ([], Nothing)
+    UseTarget f -> performAction cr w $ f $ cr ^? crTarget . _Just
+    UseSelf f   -> performAction cr w $ f cr
+    UseAheadPos f -> performAction cr w (f (_crPos cr +.+ 20 *.* unitVectorAtAngle (_crDir cr)))
+    UseMvTargetPos f -> performAction cr w $ f $ _crMvTarget cr
+    ArbitraryAction f -> performAction cr w (f cr w)
+    DoImpulsesAlongside sideImp mainAc -> case performAction cr w mainAc of
+        (imp, Just nxtac) -> (sideImp ++ imp, Just $ DoImpulsesAlongside sideImp nxtac)
+        (imp, _)          -> (sideImp ++ imp, Nothing)
+    DoReplicate t nxtac -> performAction cr w $ DoReplicatePartial nxtac t nxtac
+    DoReplicatePartial _   0 pac -> performAction cr w pac
+    DoReplicatePartial sac t pac -> case performAction cr w pac of
+        (imps , Just nac) -> (imps, Just $ DoReplicatePartial sac t nac)
+        (imps , _)        -> (imps, Just $ DoReplicatePartial sac (t-1) sac)
+    NoAction -> ([],Nothing)
+--    _ -> ([], Nothing)
+  where
+    cpos = _crPos cr 
+    cdir = _crDir cr

 startReloadingWeapon 
    :: Creature      
@@ -1,4 +1,8 @@
 module Dodge.Creature.Action.UseItem
+    ( useItem
+    , tryUseItem
+    , useLeftItem
+    )
    where
 import Dodge.Data
 import Dodge.Inventory
@@ -13,11 +17,6 @@ useItem n w = itemEffect c it w
    c = _creatures w IM.! n
    it = _crInv c IM.! _crInvSel c

-- TODO this needs sorting out and possibly removing
-crUseItem :: Creature -> World -> World
--crUseItem cr = itemEffect (_crID cr) (_crInv cr IM.! _crInvSel cr)
-crUseItem = tryUseItem
-
 tryUseItem 
    :: Creature      
    -> World 
@@ -2,22 +2,19 @@ module Dodge.Creature.ArmourChase
    ( armourChaseCrit
    )
    where
-import Dodge.Base
 import Dodge.Data
 import Dodge.Default
 import Dodge.Creature.State
 import Dodge.Creature.State.Data
-import Dodge.Creature.Rationality
 import Dodge.Creature.ReaderUpdate
 import Dodge.Creature.AlertLevel
 import Dodge.Creature.Picture
+import Dodge.Creature.Impulse
+import Dodge.Creature.Action
 import Dodge.Item.Equipment
 import Dodge.Item.Consumable
 import Picture
-import Geometry
-import FoldableHelp

-import Data.Maybe
 import qualified Data.IntMap.Strict as IM
 import Control.Lens
 import Control.Monad.Reader
@@ -28,10 +25,11 @@ armourChaseCrit = defaultCreature
        watchUpdateStratR [] >=>
        doStrategyActionsR >=>
        performActionsR >=>
-        chaseTargetR (const . _crTarget) >=>
-        basicPerceptionUpdateR [0] >=>
        targetYouWhenCognizantR  >=>
+        setTargetMv (pure . _crTarget) >=>
        flockACCR >=>
+        basicPerceptionUpdateR [0] >=>
+        goToTarget >=>
        overrideMeleeCloseTargetR >=>
        return . (crMeleeCooldown %~ max 0 . subtract 1)
    , _crHP = 300
@@ -40,37 +38,13 @@ armourChaseCrit = defaultCreature
        [(0,frontArmour)
        ,(1,medkit 200)
        ]
+    , _crActionPlan = ActionPlan
+        {_crImpulse     = []
+        ,_crAction      = []
+        ,_crStrategy    = FollowImpulses
+        ,_crGoal        = [Kill 0]
+        }
    , _crMeleeCooldown = 0
    , _crGroup = ShieldGroup
-    , _crMvType = ChaseMvType
-        { _chaseSpeed = 2.5
-        , _chaseTurnRad = f
-        , _chaseTurnJit = 0.2
-        }
+    , _crMvType = defaultChaseMvType
    }  
-  where
-    f x | x > pi / 4 = 0.2
-        | otherwise  = 0.05
-
-flockACCR :: Creature -> Reader World Creature
-flockACCR = reader . flockACC
-
-flockACC :: Creature -> World -> Creature
-flockACC cr w = fromMaybe cr $ mFlockACC cr w
-
-mFlockACC :: Creature -> World -> Maybe Creature
-mFlockACC cr w = do
-    tcr <- _crTarget cr
-    let tpos = _crPos tcr
-        cpos = _crPos cr
-        isFarACC cr' = _crGroup cr' == ShieldGroup && _crID cr' /= _crID cr
-            && dist (_crPos cr') tpos > dist cpos tpos
-            -- && circOnSeg (_crPos cr') tpos cpos (_crRad cr + _crRad cr')
-        nearACCs = IM.filter isFarACC $ creaturesNearPointI 3 cpos w
-    acr <- safeMinimumOn (dist cpos . _crPos) nearACCs
-    let r = _crRad acr + _crRad cr + 10
-        horDir = normalizeV (vNormal (cpos -.- tpos))
-        horShift = if isLHS tpos cpos (_crPos acr)
-            then r *.* horDir
-            else negate r *.* horDir
-    return $ cr & crActionPlan . crImpulse .~ [MoveForward 2.5,TurnToward (tpos +.+ horShift) 0.05 ]
@@ -6,7 +6,7 @@ import Dodge.Default
 import Dodge.Creature.Picture
 import Dodge.Creature.SentinelAI
 --import Dodge.Creature.ChooseTarget
-import Dodge.Creature.Rationality
+import Dodge.Creature.Impulse
 import Dodge.Creature.State
 --import Dodge.Creature.State.Data
 import Dodge.Item.Weapon.AutoGun
@@ -32,4 +32,5 @@ autoCrit = defaultCreature
    , _crInvSel = 0
    , _crRad = 10
    , _crHP = 300
+    , _crMvType = defaultAimMvType
    }
@@ -8,7 +8,8 @@ import Dodge.Creature.Picture
 --import Dodge.Creature.Test
 import Dodge.Creature.ReaderUpdate
 import Dodge.Creature.ChooseTarget
-import Dodge.Creature.Rationality
+import Dodge.Creature.Impulse
+import Dodge.Creature.Action
 import Dodge.Creature.AlertLevel
 import Dodge.Creature.State
 import Dodge.Creature.State.Data
@@ -49,9 +50,9 @@ chaseCrit = defaultCreature
    , _crMeleeCooldown = 0
    , _crFaction = ColorFaction green
    , _crMvType = ChaseMvType
-        { _chaseSpeed = 2.5
-        , _chaseTurnRad = f
-        , _chaseTurnJit = 0.2
+        { _mvSpeed = 2.5
+        , _mvTurnRad = f
+        , _mvTurnJit = 0.2
        }
    }
  where
@@ -1,25 +1,12 @@
 module Dodge.Creature.ImpulseRat
+    ( mvPointMeleeTarg
+    , meleeHeadingMove
+    )
    where
 import Dodge.Data
--import Dodge.Base
--import Dodge.Creature.ChooseTarget
--import Dodge.Creature.State.Data
+
 import Geometry

--import qualified Data.IntMap.Strict as IM
-import Control.Lens
--import Control.Monad.Reader
-
-
-chaseTarget
-    :: (Creature -> World -> Maybe Creature)    -- ^ Function for determining target
-    -> World 
-    -> Creature 
-    -> Creature 
-chaseTarget targFunc w cr = case targFunc cr w of
-    Nothing -> cr
-    Just crTarg -> cr & crActionPlan . crImpulse .~ chaseTarg cr crTarg
-
 meleeHeadingMove
    :: Float -- ^ max turn speed
    -> Float -- ^ min turn speed
@@ -62,42 +49,3 @@ mvPointMeleeTarg p cr crT
    cpos = _crPos cr
    tpos = _crPos crT
    combinedRad = _crRad cr + _crRad crT
-
-chaseTarg :: Creature -> Creature -> [Impulse]
-chaseTarg cr crT
-    | dist tpos cpos < combinedRad + 5 
-            && abs (_crDir cr - argV (tpos -.- cpos)) < pi/4
-        = [ TurnToward tpos 0.05 ]
-    | abs (_crDir cr - argV (tpos -.- cpos)) < pi/4
-                = [MoveForward 2.5 , TurnToward tpos 0.2, RandomTurn 0.2 ]
-    | otherwise = [MoveForward 2.5 , TurnToward tpos 0.05, RandomTurn 0.2 ]
-  where
-    cpos = _crPos cr
-    tpos = _crPos crT
-    combinedRad = _crRad cr + _crRad crT
-
-impulseShootAtTarget
-    :: (Creature -> World -> Maybe Creature)    -- ^ Function for determining target
-    -> World 
-    -> Creature 
-    -> Creature 
-impulseShootAtTarget targFunc w cr = case targFunc cr w of
-    Nothing -> cr
-    Just crTarg -> cr & crActionPlan . crImpulse .~ impulseShootAtTarg cr crTarg
-
-impulseShootAtTarg :: Creature -> Creature -> [Impulse]
-impulseShootAtTarg cr crT
-    | dist tpos cpos < combinedRad + 5 
-            && abs (_crDir cr - argV (tpos -.- cpos)) < pi/4
-            && _crMeleeCooldown cr == 0
-        = [Melee (_crID crT)]
-    | dist tpos cpos < combinedRad + 5 
-            && abs (_crDir cr - argV (tpos -.- cpos)) < pi/4
-        = [ TurnToward tpos 0.05 ]
-    | abs (_crDir cr - argV (tpos -.- cpos)) < pi/4
-                = [MoveForward 2.5 , TurnToward tpos 0.2, RandomTurn 0.2 ]
-    | otherwise = [MoveForward 2.5 , TurnToward tpos 0.05, RandomTurn 0.2 ]
-  where
-    cpos = _crPos cr
-    tpos = _crPos crT
-    combinedRad = _crRad cr + _crRad crT
@@ -10,12 +10,13 @@ import Dodge.Creature.Volition
 import Dodge.Creature.ActionRat
 --import Dodge.Creature.ChooseTarget
 import Dodge.Creature.ReaderUpdate
-import Dodge.Creature.Rationality
 import Dodge.Creature.AlertLevel
 import Dodge.Creature.State
 --import Dodge.Creature.State.Data
 import Dodge.Item.Weapon.Launcher
 --import Dodge.Item.Consumable
+import Dodge.Creature.Impulse
+import Dodge.Creature.Action
 import Geometry.Data
 import Picture

@@ -36,9 +37,9 @@ launcherCrit = defaultCreature
        >=> doStrategyActionsR
        >=> reloadOverrideR
        >=> targetYouWhenCognizantR
-        >=> overrideInternalR    
-            (onBoth (&&) crHasTarget (crStratConMatches (GetTo (V2 0 0))))
-            (\ _ -> crActionPlan . crStrategy .~ WatchAndWait)
+        >=> overrideInternalRRR
+            (\cr -> (&&) <$> crHasTargetR cr <*> crStratConMatchesR (GetTo (V2 0 0)) cr)
+            (pure . (crActionPlan . crStrategy .~ WatchAndWait))
    , _crActionPlan = ActionPlan
        { _crImpulse    = []
        , _crAction     = []
@@ -4,12 +4,13 @@ module Dodge.Creature.LtAutoCrit
 import Dodge.Data
 import Dodge.Default
 import Dodge.Creature.Picture
+import Dodge.Creature.Impulse
+import Dodge.Creature.Action
 import Dodge.Creature.Test
 import Dodge.Creature.Volition
 import Dodge.Creature.ActionRat
 --import Dodge.Creature.ChooseTarget
 import Dodge.Creature.ReaderUpdate
-import Dodge.Creature.Rationality
 import Dodge.Creature.AlertLevel
 import Dodge.Creature.State
 --import Dodge.Creature.State.Data
@@ -44,9 +45,9 @@ ltAutoCrit = defaultCreature
        >=> doStrategyActionsR
        >=> reloadOverrideR
        >=> targetYouWhenCognizantR
-        >=> overrideInternalR 
-            (onBoth (&&) crHasTarget (crStratConMatches (GetTo (V2 0 0))))
-            (\ _ -> crActionPlan . crStrategy .~ WatchAndWait)
+        >=> overrideInternalRRR
+            (\cr -> (&&) <$> crHasTargetR cr <*> crStratConMatchesR (GetTo (V2 0 0)) cr)
+            (pure . (crActionPlan . crStrategy .~ WatchAndWait))
    , _crActionPlan = ActionPlan
        { _crImpulse    = []
        , _crAction     = []
@@ -5,11 +5,12 @@ import Dodge.Data
 import Dodge.Default
 import Dodge.Creature.Picture
 import Dodge.Creature.Test
+import Dodge.Creature.Impulse
+import Dodge.Creature.Action
 import Dodge.Creature.Volition
 import Dodge.Creature.ActionRat
 import Dodge.Creature.ReaderUpdate
 --import Dodge.Creature.ChooseTarget
-import Dodge.Creature.Rationality
 import Dodge.Creature.AlertLevel
 import Dodge.Creature.State
 --import Dodge.Creature.State.Data
@@ -39,8 +40,9 @@ pistolCrit = defaultCreature
        >=> doStrategyActionsR
        >=> reloadOverrideR
        >=> targetYouWhenCognizantR
-        >=> overrideInternalR (onBoth (&&) crHasTarget (crStratConMatches (GetTo (V2 0 0))))
-            (  \ _ -> crActionPlan . crStrategy .~ WatchAndWait )
+        >=> overrideInternalRRR
+            (\cr -> (&&) <$> crHasTargetR cr <*> crStratConMatchesR (GetTo (V2 0 0)) cr)
+            (pure . (crActionPlan . crStrategy .~ WatchAndWait))
    , _crActionPlan = ActionPlan
        { _crImpulse    = []
        , _crAction     = []
@@ -1,187 +0,0 @@
-module Dodge.Creature.Rationality
-    where
-import Dodge.Data
-import Dodge.Base.Collide
-import Dodge.Creature.Action
--import Dodge.Creature.Action.UseItem
-import Dodge.Creature.State.Data
-import Dodge.Creature.Stance.Data
-import Dodge.SoundLogic
-import Dodge.SoundLogic.Synonyms
-import Geometry
-
-import Data.Maybe
-import qualified Data.IntMap.Strict as IM
-import System.Random
-import Control.Lens
-import Control.Monad.Reader
-import Data.Monoid
-
-composeInternalAIs 
-    :: [World -> Creature -> Creature]
-    -> World
-    -> Creature
-    -> Creature
-composeInternalAIs fs w c = foldr ($ w) c fs
-
-impulsiveAIR
-    :: (Creature -> Reader World Creature)
-    -> Creature
-    -> World
-    -> (Endo World , Maybe Creature)
-impulsiveAIR impf cr w = bimap Endo Just $ followImpulses w . ($ w) . runReader $ impf cr
-
--impulsiveAI 
--    :: (World -> Creature -> Creature) -- ^ Internal AI update, should determine impulses
--    -> World 
--    -> (World -> World,StdGen) 
--    -> Creature 
--    -> ((World -> World,StdGen), Maybe Creature)
--impulsiveAI impF w (f,g) = followImpulses w (f,g) . impF w
-
-- needs cleanup
-followImpulses 
-    :: World 
-    -> Creature 
-    -> (World -> World, Creature)
-followImpulses w cr
-    = foldr 
-        (\imp (f , cr') -> let (f'', cr'') = followImpulse cr' w imp in (f'' . f , cr''))
-        (id, cr) 
-        (_crImpulse $ _crActionPlan cr)
-
-followImpulse
-    :: Creature
-    -> World
-    -> Impulse
-    -> (World -> World , Creature)
-followImpulse cr w imp = case imp of
-    Move p  -> (id, crMvBy p cr)
-    MoveForward x  -> (id, crMvForward x cr)
-    Turn a  -> (id, creatureTurn a cr)
-    TurnToward p a -> (id, creatureTurnToward p a cr)
-    TurnTo p -> (id, creatureTurnTo p cr)
-    ChangePosture post -> (id, cr & crStance . posture .~ post)
-    UseItem -> (crUseItem cr, cr)
-    SwitchToItem i -> (id, cr & crInvSel .~ i)
-    Melee cid ->
-        (hitCr cid
-        , crMvBy (10 *.* normalizeV (posFromID cid -.- cpos)) $ cr & crMeleeCooldown .~ 20) -- randomise cooldown?
-    RandomTurn a -> (id, creatureTurn (rr a) cr)
-    MakeSound sid -> ( soundOnceOrigin sid (CrSound (_crID cr)) (_crPos cr) , cr )
-    DropItem -> undefined
-    ChangeStrategy strat -> (id, cr & crActionPlan . crStrategy .~ strat)
-    AddGoal gl -> (id, cr & crActionPlan . crGoal %~ (gl :) )
-    ArbitraryImpulseFunction f -> (id, f w cr)
-    ArbitraryImpulse f -> followImpulse cr w (f cr w) 
-    ImpulseUseTargetCID f -> case cr ^? crTarget . _Just of
-        Just tcr -> followImpulse cr w (f $ _crID tcr)
-        _ -> (id,cr)
-    ImpulseUseTarget f -> case cr ^? crTarget . _Just of
-        Just tcr -> followImpulse cr w (f tcr)
-        _ -> (id,cr)
-    ImpulseUseAheadPos f -> followImpulse cr w (f (_crPos cr +.+ 20 *.* unitVectorAtAngle (_crDir cr)))
-    _ -> (id , cr)
-  where
-    cpos = _crPos cr
-    posFromID cid = _crPos $ _creatures w IM.! cid
-    rr a = fst $ randomR (-a,a) $ _randGen w
-    hitCr i = over (creatures . ix i . crState . crDamage) (addDam i)
-        . soundOnce hitSound
-    addDam i dams = Blunt 100 cpos (posFromID i) (posFromID i) : dams 
-
-actionUpdateAI
-    :: (World -> Creature -> Creature) -- ^ the function updating the actions
-    -> World
-    -> Creature
-    -> Creature
-actionUpdateAI actF w c = performActions w $ actF w c
-
-listGuard :: ([(a -> Bool, b)] , b) -> a -> b
-listGuard ( (test,y):ps, z ) x
-    | test x = y
-    | otherwise = listGuard (ps, z) x
-listGuard (_,z) _ = z
-
-performActions :: World -> Creature -> Creature
-performActions w cr = cr
-    & crActionPlan . crImpulse .~ concat iss
-    & crActionPlan . crAction .~ catMaybes mayas
-  where
-    (iss, mayas) = unzip $ map (performAction cr w) $ cr ^. crActionPlan . crAction
-
-performActionsR :: Creature -> Reader World Creature
-performActionsR cr = reader $ \w -> performActions w cr
-
-
-{- | Performing an action means that a creature has some impulses for a frame, and
- updates or deletes the action itself. -}
-performAction 
-    :: Creature
-    -> World
-    -> Action
-    -> ( [Impulse] , Maybe Action )
-performAction cr w ac = case ac of
-    AimAtCloseSlow tcid p speed slowSpeed a
-        | canSee (_crID cr) tcid w && safeAngleVV (unitVectorAtAngle cdir) (tpos -.- cpos) < a 
-            -> ([TurnToward tpos slowSpeed] , Just $ AimAtCloseSlow tcid tpos speed slowSpeed a)
-        | canSee (_crID cr) tcid w
-            -> ([TurnToward tpos speed] , Just $ AimAtCloseSlow tcid tpos speed slowSpeed a)
-        | safeAngleVV (unitVectorAtAngle cdir) (tpos -.- cpos) < a 
-            -> ([TurnToward p slowSpeed] , Just $ AimAtCloseSlow tcid p speed slowSpeed a)
-        | otherwise -> ([TurnToward p speed] , Just $ AimAtCloseSlow tcid p speed slowSpeed a)
-      where
-        tpos = _crPos (_creatures w IM.! tcid)
-    WaitThen 0 newAc -> ([] , Just newAc)
-    WaitThen t newAc -> ([] , Just (WaitThen (t-1) newAc))
-    ImpulsesList (xs:xss) -> (xs, Just $ ImpulsesList xss)
-    ImpulsesList _  -> ([], Nothing)
-    DoImpulses imps -> (imps, Nothing)
-    DoActionThen fsta afta -> case performAction cr w fsta of
-        (imps , Just nxta) -> (imps, Just (DoActionThen nxta afta))
-        (imps , Nothing  ) -> (imps, Just afta)
-    DoActionWhile f repa -> performAction cr w $ DoActionWhilePartial repa f repa
-    DoActionWhilePartial partAc f resetAc
-        | f (w,cr) -> case performAction cr w partAc of
-            (imps, Just nxta) -> (imps, Just $ DoActionWhilePartial nxta f resetAc)
-            (imps, _) -> (imps, Just $ DoActionWhilePartial resetAc f resetAc)
-        | otherwise -> performAction cr w partAc
-    DoActionIf f ifa
-        | f (w,cr) -> performAction cr w ifa
-        | otherwise -> ([],Nothing)
-    DoActionIfElse ifa f elsea
-        | f (w,cr)      -> performAction cr w ifa
-        | otherwise -> performAction cr w elsea
-    DoActionWhileInterrupt repa f afta
-        | f (w,cr)       -> (fst $ performAction cr w repa, Just $ DoActionWhileInterrupt repa f afta)
-        | otherwise -> performAction cr w afta
-    DoActions [] -> ([], Nothing)
-    DoActions acs -> 
-        let (imps, newAcs) = unzip $ map (performAction cr w) acs
-        in (concat imps, Just . DoActions $ catMaybes newAcs)
-    StartSentinelPost -> ([AddGoal $ SentinelAt (_crPos cr) (_crDir cr)], Nothing)
-    PathTo p
-        | dist cpos p < 5 -> ([], Nothing)
-        | hasLOS cpos p w -> ([TurnToward p (pi/4),MoveForward 3] , Just (PathTo p))
-        | otherwise -> ([], Nothing)
-    LeadTarget p -> case cr ^? crTarget . _Just of
-        Just tcr -> ([TurnTo (_crPos tcr +.+ rotateV (_crDir tcr) p)], Nothing)
-        _  -> ([], Nothing)
-    UseTargetCID f -> case cr ^? crTarget . _Just of
-        Just tcr -> performAction cr w (f $ _crID tcr)
-        _ -> ([],Nothing)
-    UseTarget f -> performAction cr w $ f $ cr ^? crTarget . _Just
-    UseAheadPos f -> performAction cr w (f (_crPos cr +.+ 20 *.* unitVectorAtAngle (_crDir cr)))
-    ArbitraryAction f -> performAction cr w (f cr w)
-    DoImpulsesAlongside sideImp mainAc -> case performAction cr w mainAc of
-        (imp, Just nxtac) -> (sideImp ++ imp, Just $ DoImpulsesAlongside sideImp nxtac)
-        (imp, _) -> (sideImp ++ imp, Nothing)
-    DoReplicate t nxtac -> performAction cr w $ DoReplicatePartial nxtac t nxtac
-    DoReplicatePartial _  0 pac -> performAction cr w pac
-    DoReplicatePartial sac t pac -> case performAction cr w pac of
-        (imps , Just nac) -> (imps, Just $ DoReplicatePartial sac t nac)
-        (imps , _)         -> (imps, Just $ DoReplicatePartial sac (t-1) sac)
-    _ -> ([], Nothing)
-  where
-    cpos = _crPos cr 
-    cdir = _crDir cr
@@ -1,12 +1,27 @@
-{- | Function updating a creature in a Reader World environment -}
+{- | Functions updating a creature in a Reader World environment -}
 module Dodge.Creature.ReaderUpdate
+    ( doStrategyActionsR
+    , chaseTargetR
+    , chaseTargetRR
+    , setTargetMv
+    , targetYouWhenCognizantR
+    , overrideMeleeCloseTargetR
+    , watchUpdateStratR
+    , reloadOverrideR
+    , overrideInternalRRR
+    , goToTarget
+    , flockACCR
+    )
    where
 import Dodge.Data
 import Dodge.Creature.Stance.Data
 import Dodge.Creature.Test
 import Dodge.Creature.Volition
 import Dodge.Creature.AlertLevel.Data
+import Dodge.Base
+import Dodge.Base.Collide
 import Geometry
+import FoldableHelp

 import qualified Data.IntMap.Strict as IM
 import Control.Monad.Reader
@@ -27,32 +42,90 @@ tryMeleeAttack cr tcr
    | otherwise = cr
  where
    cpos = _crPos cr
-    --meleeActions = 
-    --    [DoImpulses [Melee (_crID tcr)]
-    --    `DoActionThen` DoImpulses [ChangeStrategy WatchAndWait]
-    --    ]
+
+chaseTargetRR
+    :: (Creature -> Reader World (Maybe Creature))    -- ^ Function for determining target
+    -> Creature 
+    -> Reader World Creature 
+chaseTargetRR targFunc cr = do
+    targ <- targFunc cr
+    case targ of
+        Nothing -> pure cr
+        Just crTarg -> pure $ cr & crActionPlan . crImpulse .~ chaseTarg cr crTarg
+setTargetMv
+    :: (Creature -> Reader World (Maybe Creature))    -- ^ Function for determining target
+    -> Creature 
+    -> Reader World Creature 
+setTargetMv targFunc cr = do
+    targ <- targFunc cr
+    case targ of
+        Nothing -> pure cr
+        Just crTarg -> pure $ cr & crMvTarget .~ Just (_crPos crTarg)
+flockACCR :: Creature -> Reader World Creature
+flockACCR cr = do
+    case cr ^? crTarget . _Just of
+        Nothing -> pure cr
+        Just tcr -> do
+            w <- ask
+            let tpos = _crPos tcr
+                cpos = _crPos cr
+                isFarACC cr' = _crGroup cr' == _crGroup cr 
+                    && _crID cr' /= _crID cr
+                    && dist (_crPos cr') tpos > dist cpos tpos
+                nearACCs = IM.filter isFarACC $ creaturesNearPointI 5 cpos w
+                macr = safeMinimumOn (dist cpos . _crPos) nearACCs
+            case macr of
+                Nothing  -> pure cr
+                Just acr -> do
+                    let r = _crRad acr + _crRad cr + 10
+                        horDir = normalizeV (vNormal (cpos -.- tpos))
+                        horShift = if isLHS tpos cpos (_crPos acr)
+                            then r *.* horDir
+                            else negate r *.* horDir
+                    pure $ cr & crMvTarget .~ Just (tpos +.+ horShift)
+
+goToTarget :: Creature -> Reader World Creature
+goToTarget cr = do
+    w <- ask
+    case cr ^? crMvTarget . _Just of
+        Just p 
+            | dist p cpos > _crRad cr + 10 && hasLOS p cpos w
+                -> pure $ cr & crActionPlan . crImpulse .~ 
+                    [ MoveForward speed
+                    , TurnToward p (trad dirOffset)
+                    , RandomTurn jit
+                    ]
+            | dist p cpos > _crRad cr + 10
+                -> pure $ cr & crActionPlan . crAction .~ [PathTo p]
+              where
+                dirOffset = abs (_crDir cr - argV (p -.- cpos))
+        _ -> pure cr
+  where
+    cpos    = _crPos cr
+    mvType  = _crMvType cr
+    speed   = _mvSpeed mvType
+    trad    = _mvTurnRad mvType
+    jit     = _mvTurnJit mvType
+    

 chaseTargetR
    :: (Creature -> World -> Maybe Creature)    -- ^ Function for determining target
    -> Creature 
    -> Reader World Creature 
-chaseTargetR targFunc cr = reader $ \w ->  case targFunc cr w of
+chaseTargetR targFunc cr = reader $ \w -> case targFunc cr w of
    Nothing -> cr
    Just crTarg -> cr & crActionPlan . crImpulse .~ chaseTarg cr crTarg

 chaseTarg :: Creature -> Creature -> [Impulse]
 chaseTarg cr crT = [MoveForward speed, TurnToward tpos (trad dirOffset), RandomTurn jit]
  where
-    cpos = _crPos cr
-    tpos = _crPos crT
-    mvType = _crMvType cr
-    speed = _chaseSpeed mvType
-    trad = _chaseTurnRad mvType
-    jit = _chaseTurnJit mvType
+    cpos    = _crPos cr
+    tpos    = _crPos crT
+    mvType  = _crMvType cr
+    speed   = _mvSpeed mvType
+    trad    = _mvTurnRad mvType
+    jit     = _mvTurnJit mvType
    dirOffset = abs (_crDir cr - argV (tpos -.- cpos))
--    | abs (_crDir cr - argV (tpos -.- cpos)) < pi/4
--                = [MoveForward 2.5 , TurnToward tpos 0.2, RandomTurn 0.2 ]
--    | otherwise = [MoveForward 2.5 , TurnToward tpos 0.05, RandomTurn 0.2 ]

 doStrategyActionsR
    :: Creature
@@ -76,24 +149,14 @@ reloadOverrideR cr
        , WaitThen 1 $ DoActionWhileInterrupt NoAction crIsReloading (DoImpulses [ChangeStrategy WatchAndWait])
        ]

-overrideInternalR
-    :: ((World , Creature) -> Bool)
-    -> (World -> Creature -> Creature)
-    -> Creature
-    -> Reader World Creature
-overrideInternalR test update cr = reader $ \w -> 
-    if test (w,cr) 
-    then update w cr
-    else cr
-overrideInternalRR
-    :: ((World , Creature) -> Bool)
+overrideInternalRRR
+    :: (Creature -> Reader World Bool)
    -> (Creature -> Reader World Creature)
    -> Creature
    -> Reader World Creature
-overrideInternalRR test update cr = reader $ \w -> 
-    if test (w,cr) 
-    then runReader (update cr) w
-    else cr
+overrideInternalRRR test update cr = do
+    b <- test cr
+    if b then update cr else pure cr

 watchUpdateStratR
    :: [ ((World, Creature) -> Bool, World -> Creature -> Strategy) ]
@@ -104,18 +167,6 @@ watchUpdateStratR fs cr = reader $ \w -> case cr ^? crActionPlan . crStrategy of
        & crActionPlan . crStrategy .~ listGuard (fs, \_ _ -> WatchAndWait) (w, cr) w cr
    _ -> cr

-watchUpdateStratRRR
-    :: [ (Creature -> Reader World Bool, Creature -> Reader World Strategy) ]
-    -> Creature
-    -> Reader World Creature
-watchUpdateStratRRR fs cr = do
-    return undefined fs cr
--        reader $ \w -> case cr ^? crActionPlan . crStrategy of
--    Just WatchAndWait -> cr 
--        & crActionPlan . crStrategy .~ listGuard (fs, \_ _ -> WatchAndWait) (w, cr) w cr
--    _ -> cr
-
-

 listGuard :: ([(a -> Bool, b)] , b) -> a -> b
 listGuard ( (test,y):ps, z ) x
@@ -125,16 +176,15 @@ listGuard (_,z) _ = z

 targetYouWhenCognizantR :: Creature -> Reader World Creature
 targetYouWhenCognizantR cr = reader $ \w -> case cr ^? crAwarenessLevel . ix 0 of
--    Just (Cognizant _)  -> cr & crTarget ?~ _creatures w IM.! 0
    Just (Cognizant _)  -> cr {_crTarget = Just $! _creatures w IM.! 0}
    _                   -> cr & crTarget .~ Nothing

-shootTargetWithStratR
-    :: (Creature -> World -> Maybe Creature)    -- ^ Function for determining target
-    -> (World -> Creature -> Creature -> [Action] -> [Action])
-            -- ^ Function for determining shooting strategy given target
-    -> Creature 
-    -> Reader World Creature 
-shootTargetWithStratR targFunc strat cr = reader $ \w -> case targFunc cr w of
-    Nothing -> cr
-    Just crTarg -> cr & crActionPlan . crAction %~ strat w cr crTarg
+--shootTargetWithStratR
+--    :: (Creature -> World -> Maybe Creature)    -- ^ Function for determining target
+--    -> (World -> Creature -> Creature -> [Action] -> [Action])
+--            -- ^ Function for determining shooting strategy given target
+--    -> Creature 
+--    -> Reader World Creature 
+--shootTargetWithStratR targFunc strat cr = reader $ \w -> case targFunc cr w of
+--    Nothing -> cr
+--    Just crTarg -> cr & crActionPlan . crAction %~ strat w cr crTarg
@@ -6,8 +6,8 @@ import Dodge.Creature.Test
 import Dodge.Creature.Volition
 import Dodge.Creature.ReaderUpdate
 import Dodge.Creature.ActionRat
+import Dodge.Creature.Action
 --import Dodge.Creature.ChooseTarget
-import Dodge.Creature.Rationality
 import Dodge.Creature.AlertLevel
 --import Dodge.Creature.State
 --import Dodge.Creature.State.Data
@@ -20,34 +20,28 @@ import Data.Maybe
 import Control.Lens
 import Control.Monad
 import Control.Monad.Reader
--import System.Random

 sentinelAI :: Creature -> Reader World Creature
 sentinelAI = sentinelExtraWatchUpdate
-      [ (crHasTargetLOS
-        , \ _ cr -> 
-            let lostest (w,cr') = canSee (_crID cr') tcid w 
-                advanceShoot = ImpulsesList [[UseItem, MoveForward 3]]
-                tcid = _crID $ fromJust $ _crTarget cr
-            in StrategyActions (ShootAt tcid) 
-                [ DoActionIfElse NoAction crIsAiming (DoActionThen drawWeapon (WaitThen 50 NoAction))
-                  `DoActionThen`
-                    lostest `DoActionWhile`
-                    advanceShoot `DoActionThen`
-                    75 `DoReplicate` 
-                    advanceShoot `DoActionThen`
-                    DoImpulses [ChangeStrategy WatchAndWait]
-                , AimAtCloseSlow 
-                    { _targetID = tcid
-                    , _targetSeenAt = V2 0 0 -- hack
-                    , _aimSpeed = 0.2
-                    , _slowAimSpeed = 0.01
-                    , _slowAimAngle = pi/8
-                    }
-                ]
-        )
-      ] 
+    [ (crHasTargetLOS
+      , \ _ cr -> StrategyActions (ShootAt (fromJust $ tcid cr)) 
+        [ DoActionIf 
+                (not . crIsAiming) 
+                (drawWeapon `DoActionThen` (50 `WaitThen` NoAction))
+            `DoActionThen` lostest
+            `DoActionWhile` advanceShoot 
+            `DoActionThen` 75 
+            `DoReplicate` advanceShoot 
+            `DoActionThen` DoImpulses [ChangeStrategy WatchAndWait]
+        , AimAt { _targetID = fromJust $ tcid cr , _targetSeenAt = V2 0 0 }
+        ]
+      )
+    ] 
    >=> reloadOverrideR
+  where
+    advanceShoot = DoImpulses [UseItem, MoveForward 3]
+    tcid cr = _crID <$> _crTarget cr
+    lostest (w,cr) = maybe False (\cid -> canSee (_crID cr) cid w) (tcid cr)

 sentinelFireType
    :: (Int -> Action)
@@ -57,7 +51,8 @@ sentinelFireType f = performActionsR
    >=>  watchUpdateStratR
      [ (crHasTargetLOS, \_ _ -> StrategyActions (ShootAt 0) 
            [ drawwp `DoActionThen` f 0 `DoActionThen` DoImpulses [ChangeStrategy WatchAndWait]
-            , aiming]
+            , aiming
+            ]
        )
      , (crAwayFromPost, goToPostStrat)
      ] 
@@ -65,17 +60,14 @@ sentinelFireType f = performActionsR
    >=> doStrategyActionsR
    >=> reloadOverrideR
    >=> targetYouWhenCognizantR
-    >=> overrideInternalR 
-        (onBoth (&&) crHasTarget (crStratConMatches (GetTo (V2 0 0))))
-        (\ _ -> crActionPlan . crStrategy .~ WatchAndWait)
+    >=> overrideInternalRRR
+        (\cr -> (&&) <$> crHasTargetR cr <*> crStratConMatchesR (GetTo (V2 0 0)) cr)
+        (pure . (crActionPlan . crStrategy .~ WatchAndWait))
  where
    drawwp = DoActionIfElse NoAction crIsAiming (DoActionThen drawWeapon (WaitThen 50 NoAction))
-    aiming = AimAtCloseSlow 
+    aiming = AimAt
        { _targetID = 0
        , _targetSeenAt = V2 0 0 -- hack
-        , _aimSpeed = 0.2
-        , _slowAimSpeed = 0.01
-        , _slowAimAngle = pi/8
        }

 sentinelExtraWatchUpdate
@@ -84,14 +76,13 @@ sentinelExtraWatchUpdate
    -> Reader World Creature
 sentinelExtraWatchUpdate xs = performActionsR
    >=>  watchUpdateStratR
-      ( xs ++ [(crAwayFromPost, goToPostStrat)] )
+        ( xs ++ [(crAwayFromPost, goToPostStrat)] )
    >=> basicPerceptionUpdateR [0]
    >=> doStrategyActionsR
--    >=> reloadOverrideR
    >=> targetYouWhenCognizantR
-    >=> overrideInternalR (onBoth (&&) crHasTarget (crStratConMatches (GetTo (V2 0 0))))
-      (\ _ -> crActionPlan . crStrategy .~ WatchAndWait)
-
+    >=> overrideInternalRRR
+        (\cr -> (&&) <$> crHasTargetR cr <*> crStratConMatchesR (GetTo (V2 0 0)) cr)
+        (pure . (crActionPlan . crStrategy .~ WatchAndWait))

 shootAtAdvance :: Int -> [Action]
 shootAtAdvance tcid =
@@ -102,12 +93,9 @@ shootAtAdvance tcid =
        75 `DoReplicate` 
        advanceShoot `DoActionThen`
        DoImpulses [ChangeStrategy WatchAndWait]
-    , AimAtCloseSlow 
+    , AimAt
        { _targetID = tcid
        , _targetSeenAt = V2 0 0 -- hack
-        , _aimSpeed = 0.2
-        , _slowAimSpeed = 0.01
-        , _slowAimAngle = pi/8
        }
    ]
  where
@@ -123,12 +111,9 @@ shootAtWhileContinueTime tcid _ _ = StrategyActions (ShootAt tcid)
        75 `DoReplicate` 
        advanceShoot `DoActionThen`
        DoImpulses [ChangeStrategy WatchAndWait]
-    , AimAtCloseSlow 
+    , AimAt
        { _targetID = tcid
        , _targetSeenAt = V2 0 0 -- hack
-        , _aimSpeed = 0.2
-        , _slowAimSpeed = 0.01
-        , _slowAimAngle = pi/8
        }
    ]
  where
@@ -5,11 +5,12 @@ import Dodge.Data
 import Dodge.Default
 import Dodge.Creature.Picture
 import Dodge.Creature.Test
+import Dodge.Creature.Impulse
+import Dodge.Creature.Action
 import Dodge.Creature.Volition
 import Dodge.Creature.ActionRat
 import Dodge.Creature.ReaderUpdate
 --import Dodge.Creature.ChooseTarget
-import Dodge.Creature.Rationality
 import Dodge.Creature.AlertLevel
 import Dodge.Creature.State
 --import Dodge.Creature.State.Data
@@ -23,6 +24,7 @@ import Picture
 import qualified Data.IntMap.Strict as IM
 import Control.Lens
 import Control.Monad
+--import Control.Monad.Trans.Reader
 --import System.Random

 spreadGunCrit :: Creature
@@ -44,8 +46,9 @@ spreadGunCrit = defaultCreature
        >=> doStrategyActionsR
        >=> reloadOverrideR
        >=> targetYouWhenCognizantR
-        >=> overrideInternalR (onBoth (&&) crHasTarget (crStratConMatches (GetTo (V2 0 0))))
-          (\ _ -> crActionPlan . crStrategy .~ WatchAndWait)
+        >=> overrideInternalRRR
+            (\cr -> (&&) <$> crHasTargetR cr <*> crStratConMatchesR (GetTo (V2 0 0)) cr)
+            (\ cr -> pure $ cr & crActionPlan . crStrategy .~ WatchAndWait)
    , _crActionPlan = ActionPlan
        { _crImpulse    = []
        , _crAction     = []
@@ -11,9 +11,9 @@ import Dodge.Creature.Boid
 import Dodge.Creature.ImpulseRat
 --import Dodge.Creature.ChooseTarget
 --import Dodge.Creature.SetTarget
-import Dodge.Creature.Rationality
 import Dodge.Creature.ReaderUpdate
 import Dodge.Creature.AlertLevel
+import Dodge.Creature.Impulse
 import Dodge.Creature.State
 import Dodge.Creature.State.Data
 import Dodge.Picture.Layer
@@ -2,7 +2,7 @@ module Dodge.Creature.YourControl
  where
 import Dodge.Data
 --import Dodge.Base
-import Dodge.Creature.Action
+import Dodge.Creature.Action.Movement
 --import Dodge.Creature.State
 --import Dodge.Creature.State.Data
 import Dodge.Creature.Stance.Data
@@ -220,14 +220,21 @@ data Creature = Creature
    , _crFaction        :: Faction
    , _crGroup          :: CrGroup
    , _crTarget         :: Maybe Creature
+    , _crMvTarget       :: Maybe Point2
    , _crMvType         :: CrMvType
    }
 data CrMvType 
-    = DefCrMvType
+    = NoMvType
    | ChaseMvType
-        { _chaseSpeed   :: Float
-        , _chaseTurnRad :: Float -> Float
-        , _chaseTurnJit :: Float
+        { _mvSpeed   :: Float
+        , _mvTurnRad :: Float -> Float
+        , _mvTurnJit :: Float
+        }
+    | AimMvType
+        { _mvSpeed      :: Float
+        , _mvTurnRad    :: Float -> Float
+        , _mvTurnJit    :: Float
+        , _mvAimSpeed   :: Float -> Float
        }
 data WorldState 
    = DoorNumOpen Int 
@@ -559,18 +566,19 @@ data ActionPlan
 data Impulse
    = Move Point2
    | MoveForward Float
-    | StepForward
    | Turn Float
    | RandomTurn Float
    | TurnToward Point2 Float
+    | MvTurnToward Point2
+    | MvForward
    | TurnTo Point2
    | UseItem
    | SwitchToItem Int
    | DropItem
-    | PickupNearby Int
-    | UseWorldObject Int
-    | Bark -- placeholder for various communication types
-    | UseIntrinsicAbility
+--    | PickupNearby Int
+--    | UseWorldObject Int
+--    | Bark -- placeholder for various communication types
+--    | UseIntrinsicAbility
    | Melee Int
    | ChangePosture Posture
    | MakeSound Int
@@ -594,87 +602,66 @@ infixr 9 `DoActionWhile`
 infixr 9 `DoReplicate`
 infixr 9 `DoImpulsesAlongside`
 data Action
-    = Attack 
-        {_attackTargetID :: Int}
-    | AimAtCloseSlow 
-        {_targetID :: Int 
-        ,_targetSeenAt :: Point2 
-        ,_aimSpeed :: Float 
-        ,_slowAimSpeed :: Float
-        ,_slowAimAngle :: Float
-        }
-    | MeleeAttack 
-        {_meleeAttackLastSeen :: Point2 
-        ,_meleeAttackTargetID :: Int
+    = AimAt
+        {_targetID      :: Int 
+        ,_targetSeenAt  :: Point2 
        }
    | PathTo 
-        {_pathToPoint :: Point2
-        }
-    | HealSelf
-    | DefendSelf
-    | Protect 
-        {_protectCID :: Int
-        }
-    | SearchFor 
-        {_searchForCID :: Int
-        }
-    | Search
-    | PickupItem 
-        {_pickupItemID :: Int
+        {_pathToPoint   :: Point2
        }
+--    | PickupItem 
+--        {_pickupItemID :: Int
+--        }
    | ImpulsesList 
-        {_impulsesListList :: [[Impulse]]
+        {_impulsesListList  :: [[Impulse]]
        }
    | DoImpulses 
-        {_doImpulsesList :: [Impulse]
+        {_doImpulsesList    :: [Impulse]
        }
    | WaitThen 
-        {_waitThenTimer :: Int 
-        ,_waitThenAction :: Action
+        {_waitThenTimer     :: Int 
+        ,_waitThenAction    :: Action
        }
    | DoActionWhile 
-        {_doActionWhileCondition :: (World, Creature) -> Bool
-        ,_doActionWhileAction :: Action 
+        {_doActionWhileCondition    :: (World, Creature) -> Bool
+        ,_doActionWhileAction       :: Action 
        }
    | DoActionWhilePartial
-        {_doActionWhilePartial :: Action
-        ,_doActionWhileCondition :: (World, Creature) -> Bool
-        ,_doActionWhileAction :: Action 
+        {_doActionWhilePartial      :: Action
+        ,_doActionWhileCondition    :: (World, Creature) -> Bool
+        ,_doActionWhileAction       :: Action 
        }
    | DoActionIf
-        {_doActionIfCondition :: (World, Creature) -> Bool
-        ,_doActionIfAction :: Action
+        {_doActionIfCondition   :: (World, Creature) -> Bool
+        ,_doActionIfAction      :: Action
        }
    | DoActionIfElse 
-        {_doActionIfElseIfAction :: Action 
-        ,_doActionIfElseCondition ::  (World, Creature) -> Bool
-        ,_doActionIfElseElseAction :: Action
+        {_doActionIfElseIfAction    :: Action 
+        ,_doActionIfElseCondition   ::  (World, Creature) -> Bool
+        ,_doActionIfElseElseAction  :: Action
        }
    | DoActionWhileInterrupt 
-        {_doActionWhileThenDo :: Action 
-        ,_doActionWhileThenCondition :: (World, Creature) -> Bool
-        ,_doActionWhileThenThen :: Action
+        {_doActionWhileThenDo           :: Action 
+        ,_doActionWhileThenCondition    :: (World, Creature) -> Bool
+        ,_doActionWhileThenThen         :: Action
        }
    | DoActions 
        {_doActionsList :: [Action]
        }
-    | DoActionOnce 
-        {_doActionOnceAction :: Action
-        }
    | DoActionThen 
-        {_doActionThenFirst :: Action 
-        ,_doActionThenSecond :: Action
-        }
-    | DoGuardActions 
-        {_doGuardActionsList :: [( (World, Creature) -> Bool, Action, Maybe Action)]
+        {_doActionThenFirst     :: Action 
+        ,_doActionThenSecond    :: Action
        }
+--    | DoGuardActions 
+--        {_doGuardActionsList :: [( (World, Creature) -> Bool, Action, Maybe Action)]
+--        }
    | DoReplicate 
-        {_doReplicateTimes :: Int 
+        {_doReplicateTimes  :: Int 
        ,_doReplicateAction :: Action
        }
    | DoReplicatePartial
-        {_partialAction :: Action
-        ,_doReplicateTimes :: Int
+        {_partialAction     :: Action
+        ,_doReplicateTimes  :: Int
        ,_doReplicateAction :: Action
        }
    | LeadTarget
@@ -685,24 +672,21 @@ data Action
    | UseTarget
        {_useTarget :: Maybe Creature -> Action
        }
-    | UseTargetCID
-        {_useTargetCID :: Int -> Action
-        }
    | UseSelf
        {_useSelf :: Creature -> Action
        }
    | UseAheadPos
        {_useAheadPos :: Point2 -> Action
        }
+    | UseMvTargetPos
+        {_useMvTargetPos :: Maybe Point2 -> Action
+        }
    | ArbitraryAction
        { _arbitraryAction :: Creature -> World -> Action }
-    | DoActionAlongside -- ^ Repeatedly perform a side action alongside a main action until the main action terminates
-        {_sideAction :: Action
-        ,_mainAction :: Action
-        }
-    | DoImpulsesAlongside -- ^ Repeatedly perform impulses alongside a main action until the main action terminates
-        {_sideImpulses :: [Impulse]
-        ,_mainAction :: Action
+    | DoImpulsesAlongside 
+    -- ^ Repeatedly perform impulses alongside a main action until the main action terminates
+        {_sideImpulses  :: [Impulse]
+        ,_mainAction    :: Action
        }
  deriving (Generic)
 --  deriving (Eq,Ord,Show)
@@ -749,7 +733,7 @@ makeLenses ''ActionPlan
 makeLenses ''Impulse
 makeLenses ''Action
 makeLenses ''CrGroupParams
-
+makeLenses ''CrMvType 
 numColor :: Int -> Color
 numColor 0  = toV4 (1,0,0,1) 
 numColor 1  = toV4 (0,1,0,1) 
@@ -55,9 +55,32 @@ defaultCreature = Creature
    , _crAwarenessLevel = IM.empty
    , _crFaction = NoFaction
    , _crTarget  = Nothing
+    , _crMvTarget= Nothing
    , _crGroup   = LoneWolf
-    , _crMvType  = DefCrMvType
+    , _crMvType  = NoMvType
    }
+defaultChaseMvType :: CrMvType
+defaultChaseMvType = ChaseMvType
+    { _mvSpeed = 3
+    , _mvTurnRad = f
+    , _mvTurnJit = 0.2
+    }
+  where
+    f x | x > pi / 4 = 0.2
+        | otherwise  = 0.05
+defaultAimMvType :: CrMvType
+defaultAimMvType = AimMvType
+    { _mvSpeed      = 3
+    , _mvTurnRad    = const 0.2
+    , _mvTurnJit    = 0.05
+    , _mvAimSpeed   = f
+    }
+  where
+    f x | x > pi/8  = 0.2
+        | otherwise = 0.01
+defaultAimingCrit :: Creature
+defaultAimingCrit = defaultCreature { _crMvType = defaultAimMvType }
+
 defaultState :: CreatureState
 defaultState = CrSt 
    { _crDamage = []
@@ -148,8 +148,6 @@ updateCreatures w = appEndo f $ w
      where
        (f'',cr') = _crUpdate cr cr (w & randGen .~ g)
        (_,g') = genWord8 g
-    
-
 {- |
 Apply door mechanisms.  -}
 updateWalls :: World -> World