///////////////////////////////////////////////////////////////////////////////
//
// Collision.cfg
//
// This files contains runtime configuration variables for collision avoidance.
//
// By the Mad Dr. I
//
///////////////////////////////////////////////////////////////////////////////

// Which revision of this file are we using?
#define COLLISION_CONFIG_FILE_REVISION 1

// Range Search Parameters
#define AVOIDANCE_USING_RANGE_SEARCH 1

// How big is a grid cell in the range search structure?
#define GRID_X_SIZE 256.0
#define GRID_Z_SIZE 256.0

// Which modes are on?
// Any or all of the following four modes can be selected or deselected
// together.
// The combo most like the old avoidance is (1,0,0,0).
// The one recommended by the doctor is (1,1,1,0)

// COLLISION_DIRECT_REPULSION is a repulsive force pointing directly
// at one object from another.
#define COLLISION_DIRECT_REPULSION 1

// COLLISION_LATERAL_REPULSION is a force which causes one object to move
// laterally to take another object out of its direct path.  This keeps two
// objects from being is a "standoff" facing each other trying to get by.
#define COLLISION_LATERAL_REPULSION 1

// COLLISION_FULL_POTENTIAL_FIELD uses forces from all really close objects 
// if its value is 1.  Otherwise, the repulsion is only from the single
// closest obstacle.  This makes a noticable difference when several objects
// are close together (cuts down collisions)
#define COLLISION_FULL_POTENTIAL_FIELD 1

// COLLISION_REAL_COLLISIONS turns on a check (when 1) to see if two objects
// really could collide given their current velocities.  If not, forces are
// nott applied.  This is potentially expensive, and the parameters would need
// to be tweaked carefully to avoid collisions.
#define COLLISION_REAL_COLLISIONS 1

///////////////////////////////////////////////////////////////////////////////
// FOR Lateral Repulsion

// This is a modifier for the magnitude of lateral 
// forces applied for avoidance
#define LATERAL_AVOIDANCE_MULTIPLIER 120.0

// This is how many times bigger the danger zone for a collision
// can be than the combined radius of the two objects
#define LATERAL_DANGER_WIDTH 1.0


///////////////////////////////////////////////////////////////////////////////
// FOR AIUtil_Detect_2D_Collision

// When we're looking to see if there will be a collision with an object
// in some time period, what is the time we say (in seconds)
#define COLLISION_LOOK_AHEAD_TIME 2.5

// When doing the Real Collision Look ahead, how much bigger than the
// real radius of objects do we consider the objects to be...
#define COLLISION_SAFETY_COEFF 1.2

///////////////////////////////////////////////////////////////////////////////
// FOR FindPotentialField

// How much more attractive is the final goal than a waypoint?
#define EXTRA_GOAL_ATTRACTION 4.0

// Simple multiplier for the effect of repulsion
#define REPULSIVE_COEFFICIENT 1600.0

// Simple multiplier for effect of attraction
#define ATTRACTIVE_COEFFICIENT 1.0

// By default how far away do we cut off the repulsive effect of an object
// (in meters)
#define DEFAULT_REPULSION_CUTOFF 40.0

// Default distance for potential field influence of repulsion
#define DISTANCE_OF_INFLUENCE 30.0

///////////////////////////////////////////////////////////////////////////////
// FOR CliffForce

// Additional coefficient for cliffs' repulsive force
#define CLIFF_REPULSION_COEFFICIENT 3.0

///////////////////////////////////////////////////////////////////////////////
// FOR GotoTask::Goto(void)

// How close to a point on our path should we be before we start heading to
// the next point
#define SWITCH_TO_NEXT_POINT_DISTANCE 10.0

///////////////////////////////////////////////////////////////////////////////
// FOR UnitTask::IsStuck(void)

// Give some extra time before we call a unit stuck!
#define EXTRA_STUCK_TIME 5.0