/* 
 *   Copyright (c) 1994, 2002, 2003 Johannes Prix
 *   Copyright (c) 1994, 2002 Reinhard Prix
 *   Copyright (c) 2004-2010 Arthur Huillet 
 *
 *  
 *  This file is part of Freedroid
 *
 *  Freedroid is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  Freedroid is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with Freedroid; see the file COPYING. If not, write to the 
 *  Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, 
 *  MA  02111-1307  USA
 *
 */

/**
 * This file contains all enemy related functions.  This includes their 
 * whole behavior, healing, initialization, shuffling them around after 
 * elevator-transitions, deleting them, collisions of enemies among 
 * themselves, their fireing, animation and such.
 */

#define _enemy_c 1

#include "system.h"

#include "defs.h"
#include "struct.h"
#include "global.h"
#include "proto.h"

#define COL_SPEED		3
#define IS_FRIENDLY_EYE_DISTANCE (2.0)

static int next_bot_id = 1; // defines the id of the next created enemy.

static int TurnABitTowardsPosition(Enemy, float, float, float);
static void move_to_melee_combat(struct enemy *, struct gps *, struct pointf *);
static void MoveAwayFromMeleeCombat(Enemy, pointf *);
static void ReachMeleeCombat(Enemy, gps *, pointf *, pathfinder_context *);
static void raw_start_enemys_shot(struct enemy *, float, float);
static int is_potential_target(enemy * this_robot, gps * target_pos, float *squared_best_dist);
static int can_see_tux(enemy *);

LIST_HEAD(alive_bots_head);
LIST_HEAD(dead_bots_head);
list_head_t level_bots_head[MAX_LEVELS];	//THIS IS NOT STATICALLY PROPERLY INITIALIZED, done in init functions

/* Definition of the sensors. The flag_set values must be exclusive,
 * so that given a flag_set we can get a unique associated name. */

struct {
	char *name;
	int flag_set;
} enemy_sensors[] = {
		{ "infrared", SENSOR_DETECT_INVISIBLE                        },
		{ "xray",     SENSOR_THROUGH_WALLS                           },
		{ "radar",    SENSOR_DETECT_INVISIBLE | SENSOR_THROUGH_WALLS },
		{ "spectral", SENSOR_FEATURELESS                             }
};


static void teleport_to_waypoint(enemy *robot, level *lvl, int wp_idx)
{
	waypoint *wpts = lvl->waypoints.arr;

	// Teleport the robot to the waypoint
	robot->pos.x = wpts[wp_idx].x + 0.5;
	robot->pos.y = wpts[wp_idx].y + 0.5;
	robot->pos.z = lvl->levelnum;
	robot->nextwaypoint = wp_idx;
	robot->lastwaypoint = wp_idx;
}

/**
 * Find the closest waypoint to a bot.
 */
static int enemy_find_closest_waypoint(struct enemy *this_bot)
{
	struct level *lvl = curShip.AllLevels[this_bot->pos.z];
	struct waypoint *wpts = lvl->waypoints.arr;

	int i;
	float distance = 0.0;
	float best_distance = 10000.0;
	int best_waypoint = -1;

	for (i = 0; i < lvl->waypoints.size; i++) {
		// A standard bot cannot use a special waypoint
		if (!this_bot->SpecialForce && wpts[i].suppress_random_spawn)
			continue;

		// If no best_waypoint is already registered, use the current one as
		// a fallback result.
		if (best_waypoint == -1)
			best_waypoint = i;

		// Check if current waypoint is closer than the stored one.
		distance = (this_bot->pos.x - wpts[i].x + 0.5) * (this_bot->pos.x - wpts[i].x + 0.5) +
		           (this_bot->pos.y - wpts[i].y + 0.5) * (this_bot->pos.y - wpts[i].y + 0.5);
		if (distance <= best_distance) {
			best_distance = distance;
			best_waypoint = i;
		}
	}

	if (best_waypoint == -1)
		error_message(__FUNCTION__, "Found no closest waypoint on level %d.", PLEASE_INFORM, lvl->levelnum);

	return best_waypoint;
}

/**
 * In the very beginning of each game, it is not enough to just place the
 * bots onto the right locations.  They must also be integrated into the
 * waypoint system, i.e. current waypoint and next waypoint initialized.
 */
int teleport_to_closest_waypoint(struct enemy *ThisRobot)
{
	struct level *lvl = curShip.AllLevels[ThisRobot->pos.z];

	// Find the closest waypoint
	int best_waypoint = enemy_find_closest_waypoint(ThisRobot);

	if (best_waypoint >= 0) {
		// Teleport the robot to the best waypoint
		teleport_to_waypoint(ThisRobot, lvl, best_waypoint);
	} else {
		// No waypoint found, make this bot wander
		ThisRobot->combat_state = WAYPOINTLESS_WANDERING;
	}

	return best_waypoint;
}

/**
 * Randomly teleports a standard bot to a free (not already occupied) waypoint.
 *
 * A random waypoint is chosen. All waypoints are examined in turn, starting
 * from the random one, until a free one is found.
 * If no free waypoint is found, the bot is teleported to the last checked
 * waypoint.
 *
 * Note: only the waypoints not forbidden for randomly placed bots are scanned.
 */
int teleport_to_random_waypoint(enemy *erot, level *this_level, char *wp_used)
{
	int start_wp = MyRandom(this_level->waypoints.size - 1);
	waypoint *wpts = this_level->waypoints.arr;
	int current_wp = start_wp;
	int last_checked_wp = -1;
	int found_wp = -1;

	// Find a random waypoint
	do {
		if (!wpts[current_wp].suppress_random_spawn) {
			last_checked_wp = current_wp;
			if (!wp_used[current_wp]) {
				found_wp = current_wp;
				break;
			}
		}
		// next waypoint, going to 0 if at end of list
		current_wp++;
		if (current_wp == this_level->waypoints.size)
			current_wp = 0;
	} while (found_wp == -1 && current_wp != start_wp); // stop when found, or when all waypoints have been scanned

	// Use a fallback waypoint if no free waypoint is found
	if (found_wp == -1) {
		if (last_checked_wp == -1) {
			error_message(__FUNCTION__, "All waypoints on level %d are forbidden for random bots. Something is wrong."
			                           " Forcing the bot to teleport to a forbidden waypoint.",
			                           PLEASE_INFORM, this_level->levelnum);
			found_wp = start_wp;
		} else {
			error_message(__FUNCTION__, "There was no free waypoint found on level %d to place another random bot.",
			                            NO_REPORT, this_level->levelnum);
			found_wp = last_checked_wp;
		}
	}

	wp_used[found_wp] = 1;

	// Teleport the robot to the found waypoint
	teleport_to_waypoint(erot, this_level, found_wp);

	return found_wp;
}

/**
 * This function teleports an enemy to a new position on the
 * map. 
 */
void teleport_enemy(enemy *robot, int z, float x, float y)
{
	// Due to possible bugs in the storyline scripts, we could be requested to
	// teleport a dead bot. This shoud not happen. So we inform the player but
	// fails the teleportation
	if (robot->energy <= 0) {
		error_message(__FUNCTION__,
				"Trying to teleport a dead NPC (dialog name %s) from x=%f y=%f level=%d\n"
				" to x=%f y=%f level=%d is not possible: the bot is dead.\n"
				"A bug in a dialog is to be suspected... Expect the game to be in bad state now...",
				PLEASE_INFORM, robot->dialog_section_name, robot->pos.x, robot->pos.y, robot->pos.z, x, y, z);
		return;
	}

	// Check the validity of the teleport destination
	if (!level_exists(z) || !pos_inside_level(x, y, curShip.AllLevels[z])) {
		error_message(__FUNCTION__,
				"Trying to teleport NPC (dialog name %s) from x=%f y=%f level=%d\n"
				" to x=%f y=%f level=%d is not possible: the target location is not valid.",
				PLEASE_INFORM, robot->dialog_section_name, robot->pos.x, robot->pos.y, robot->pos.z, x, y, z);
		return;
	}

	// Does the robot change level?
	if (z != robot->pos.z) {
		robot->pos.z = z;

		// Add the bot on the new level
		list_move(&robot->level_list, &(level_bots_head[robot->pos.z]));
	}

	// Prevent the bot from moving this frame
	clear_out_intermediate_points(&robot->pos, &robot->PrivatePathway[0], 5);

	// Move the bot
	robot->pos.x = x;
	robot->pos.y = y;

	// Reset the bot's waypoints
	int best_waypoint = enemy_find_closest_waypoint(robot);

	if (best_waypoint >= 0) {
		robot->homewaypoint = best_waypoint;
		robot->lastwaypoint = best_waypoint;
		robot->nextwaypoint = best_waypoint;
	} else {
		// No waypoint found, make this bot wander
		robot->combat_state = WAYPOINTLESS_WANDERING;
	}
}

/**
 * Enemies recover with time, independently of the current frame rate.
 */
static void heal_robots_over_time(void)
{
	static float time_since_last_heal = 0;
#define HEAL_INTERVAL (3.0)

	// Heal the bots every HEAL_INTERVAL seconds
	time_since_last_heal += Frame_Time();
	if (time_since_last_heal < HEAL_INTERVAL)
		return;
	time_since_last_heal = 0;

	enemy *erot;
	BROWSE_ALIVE_BOTS(erot) {
		float heal_factor;
		if (is_friendly(erot->faction, FACTION_SELF))
			heal_factor = Droidmap[erot->type].healing_friendly;
		else
			heal_factor = Droidmap[erot->type].healing_hostile;
		if (erot->energy < Droidmap[erot->type].maxenergy)
			erot->energy += heal_factor * HEAL_INTERVAL;
		if (erot->energy > Droidmap[erot->type].maxenergy)
			erot->energy = Droidmap[erot->type].maxenergy;
	}
}

/**
 * This function resets the 'transient state' of a bot.
 * (see the 'struct enemy' comments)
 */
void enemy_reset(enemy *this_enemy)
{
	int j;

	this_enemy->speed.x = this_enemy->speed.y = 0.0;
	this_enemy->energy = Droidmap[this_enemy->type].maxenergy;
	this_enemy->animation_phase = 0;
	this_enemy->animation_type = WALK_ANIMATION;
	this_enemy->frozen = 0.0;
	this_enemy->poison_duration_left = 0.0;
	this_enemy->poison_damage_per_sec = 0.0;
	this_enemy->paralysation_duration_left = 0.0;
	this_enemy->pure_wait = 0.0;
	this_enemy->firewait = 0.0;
	this_enemy->ammo_left = ItemMap[Droidmap[this_enemy->type].weapon_id].weapon_ammo_clip_size;
	this_enemy->attack_target_type = ATTACK_TARGET_IS_NOTHING;
	enemy_set_reference(&this_enemy->bot_target_n, &this_enemy->bot_target_addr, NULL);
	this_enemy->previous_angle = 0.0;
	this_enemy->current_angle = 0.0;
	this_enemy->previous_phase = 0.0;
	this_enemy->last_phase_change = WAIT_BEFORE_ROTATE + 1.0;
	this_enemy->last_combat_step = ATTACK_MOVE_RATE + 1.0;
	this_enemy->TextVisibleTime = 0.0;
	this_enemy->TextToBeDisplayed = NULL;
	for (j = 0; j < 5; j++) {
		this_enemy->PrivatePathway[j].x = -1;
		this_enemy->PrivatePathway[j].y = -1;
	}
	this_enemy->bot_stuck_in_wall_at_previous_check = FALSE;
	this_enemy->time_since_previous_stuck_in_wall_check = ((float)MyRandom(1000)) / 1000.1;
}

/**
 * This function prepares the droid's fabric to create a whole new
 * set of droids.
 */
void enemy_reset_fabric()
{
	next_bot_id = 1;
}

/**
 * This function creates a new enemy, and initializes its 'identity' and
 * 'global state'.
 * (see the 'struct enemy' comments)
 */
enemy *enemy_new(int type)
{
	enemy *this_enemy = (enemy*)MyMalloc(sizeof(enemy));
	memset(this_enemy, 0, sizeof(enemy));

	this_enemy->id = next_bot_id++;
	this_enemy->type = type;

	// Init 'identity' attributes.
	this_enemy->SpecialForce = FALSE;
	this_enemy->marker = 0;
	this_enemy->max_distance_to_home = 0;
	this_enemy->dialog_section_name = NULL;
	this_enemy->short_description_text = strdup(Droidmap[this_enemy->type].default_short_description);
	this_enemy->on_death_drop_item_code = -1;
	this_enemy->sensor_id = Droidmap[this_enemy->type].sensor_id;
	
	// Set the default value of the 'global state' attributes
	this_enemy->faction = FACTION_BOTS;
	this_enemy->will_respawn = TRUE;
	this_enemy->will_rush_tux = FALSE;
	this_enemy->combat_state = WAYPOINTLESS_WANDERING;
	this_enemy->state_timeout = 0.0;
	this_enemy->CompletelyFixed = 0;
	this_enemy->has_been_taken_over = FALSE;
	this_enemy->follow_tux = FALSE;
	this_enemy->has_greeted_influencer = FALSE;
	this_enemy->homewaypoint = this_enemy->lastwaypoint = this_enemy->nextwaypoint = -1;

	return this_enemy;
}

/**
 * Insert an enemy into the global lists and the level lists, depending on its
 * state (living or dead)
 */
void enemy_insert_into_lists(enemy *this_enemy, int is_living)
{
	list_add(&(this_enemy->global_list), is_living ? &alive_bots_head : &dead_bots_head);
	if (is_living) {
		list_add(&this_enemy->level_list, &level_bots_head[this_enemy->pos.z]);
	}
}

/*
 * Free an enemy data structure
 */
void enemy_free(enemy *e)
{
	if (e->dialog_section_name) {
		free(e->dialog_section_name);
		e->dialog_section_name = NULL;
	}
	if (e->short_description_text) {
		free(e->short_description_text);
		e->short_description_text = NULL;
	}

	free(e);
}

/**
 * This function removes all enemy entries from the list of the
 * enemies.
 */
void clear_enemies(void)
{
	enemy *erot, *nerot;

	int i;
	for (i = 0; i < MAX_LEVELS; i++) {
		INIT_LIST_HEAD(&level_bots_head[i]);
	}

	BROWSE_ALIVE_BOTS_SAFE(erot, nerot) {
		list_del(&erot->global_list);
		enemy_free(erot);
	}

	BROWSE_DEAD_BOTS_SAFE(erot, nerot) {
		list_del(&erot->global_list);
		enemy_free(erot);
	}

	INIT_LIST_HEAD(&alive_bots_head);
	INIT_LIST_HEAD(&dead_bots_head);

	enemy_reset_fabric();
}

/** Helper to modify the enemy state
 * with a constant set of names.
 */
void enemy_set_state(enemy *en, const char *cmd)
{
	if (!strcmp(cmd, "follow_tux")) {
		en->follow_tux = TRUE;
		en->CompletelyFixed = FALSE;
	} else if (!strcmp(cmd, "fixed")) {
		en->follow_tux = FALSE;
		en->CompletelyFixed = TRUE;
	} else if (!strcmp(cmd, "free")) {
		en->follow_tux = FALSE;
		en->CompletelyFixed = FALSE;
	} else if (!strcmp(cmd, "home")) {
		en->follow_tux = FALSE;
		en->CompletelyFixed = FALSE;
		en->combat_state = RETURNING_HOME;
	} else if (!strcmp(cmd, "patrol")) {
		en->follow_tux = FALSE;
		en->CompletelyFixed = FALSE;
		en->combat_state = SELECT_NEW_WAYPOINT;
	} else {
		error_message(__FUNCTION__,
		     "I was called with an invalid state named %s. Accepted values are \"follow_tux\", \"fixed\", \"free\", \"home\", and \"patrol\".",
		     PLEASE_INFORM, cmd);
	}
}

int enemy_set_destination(enemy *en, const char *label)
{
	gps dest_pos = get_map_label_center(label);
	struct level *lvl = curShip.AllLevels[dest_pos.z];
	int destinationwaypoint = get_waypoint(lvl, dest_pos.x, dest_pos.y);

	if (dest_pos.z !=  en->pos.z) {
		error_message(__FUNCTION__,
				"Sending bot %s to map label %s (found on level %d) cannot be done because the bot\n"
				"is not on the same level (z = %d). Doing nothing.",
				PLEASE_INFORM, en->dialog_section_name, label, dest_pos.z, en->pos.z);
		return 0;
	}

	if (destinationwaypoint == -1) {
		error_message(__FUNCTION__,
				"Map label %s (found on level %d) does not have a waypoint. Cannot send bot %s\n"
				"to this location. Doing nothing.\n"
				"GPS center coordinates x=%f, y=%f.",
				PLEASE_INFORM, label, dest_pos.z, en->dialog_section_name, dest_pos.x, dest_pos.y);
		return 0;
	}

	clear_out_intermediate_points(&en->pos, &en->PrivatePathway[0], 5);
	en->lastwaypoint = destinationwaypoint;
	en->nextwaypoint = destinationwaypoint;
	en->combat_state = TURN_TOWARDS_NEXT_WAYPOINT;
	return 0;
}

static void enemy_get_current_walk_target(enemy *ThisRobot, pointf *a)
{
	int count;

	// Get the number of path nodes.
	for (count = 0; count < 5; count++) {
		if (ThisRobot->PrivatePathway[count].x == -1) 
			break;
	}

	// If the path isn't empty, return the coordinates of the last
	// path node. Otherwise, return the current position of the bot.
	if (count) {
		a->x = ThisRobot->PrivatePathway[count - 1].x;
		a->y = ThisRobot->PrivatePathway[count - 1].y;
	} else {
		a->x = ThisRobot->pos.x;
		a->y = ThisRobot->pos.y;
	}
}

/**
 * This function moves one robot in an advanced way, that hasn't been
 * present within the classical paradroid game.
 */
static float remaining_distance_to_current_walk_target(Enemy ThisRobot)
{
	pointf remaining_way;

	enemy_get_current_walk_target(ThisRobot, &remaining_way);

	remaining_way.x -= ThisRobot->pos.x;
	remaining_way.y -= ThisRobot->pos.y;

	return (sqrt(remaining_way.x * remaining_way.x + remaining_way.y * remaining_way.y));

};				// float remaining_distance_to_current_walk_target ( Enemy ThisRobot )

/**
 *
 *
 */
static void DetermineAngleOfFacing(enemy * e)
{
	// The phase now depends upon the direction this robot
	// is heading.
	//
	// We calculate the angle of the vector, but only if the robot has at least
	// some minimal speed.  If not, simply the previous angle will be used again.
	//
	if ((fabs(e->speed.y) > 0.03) || (fabs(e->speed.x) > 0.03)) {
		e->current_angle = 180 - (atan2(e->speed.y, e->speed.x) * 180 / M_PI + 90);
		e->previous_angle = e->current_angle;
	} else {
		e->current_angle = e->previous_angle;
	}
};				// void DetermineAngleOfFacing ( int EnemyNum )

/**
 * Once the next waypoint or the next private pathway point has been 
 * selected, this generic low_level movement function can be called to
 * actually move the robot towards this spot.
 */
static void move_enemy_to_spot(Enemy ThisRobot, pointf next_target_spot)
{
	pointf remaining_way;
	float maxspeed;
	int old_map_level;

	// According to properties of the robot like being frozen or not,
	// we define the maximum speed of this machine for later use...
	// A frozen robot is slow while a paralyzed robot can do absolutely nothing.
	//
	// if ( ThisRobot -> paralysation_duration_left != 0 ) return;

	if (ThisRobot->frozen == 0)
		maxspeed = Droidmap[ThisRobot->type].maxspeed;
	else
		maxspeed = 0.2 * Droidmap[ThisRobot->type].maxspeed;

	// While getting hit, the bot or person shouldn't be running, but
	// when standing, it should move over to the 'walk' animation type...
	//
	if (ThisRobot->animation_type == GETHIT_ANIMATION)
		return;
	if (ThisRobot->animation_type == STAND_ANIMATION) {
		ThisRobot->animation_type = WALK_ANIMATION;
		ThisRobot->animation_phase = 0.0;
	}

	remaining_way.x = next_target_spot.x - ThisRobot->pos.x;
	remaining_way.y = next_target_spot.y - ThisRobot->pos.y;

	float squared_length = remaining_way.x * remaining_way.x + remaining_way.y * remaining_way.y;
	gps newpos = ThisRobot->pos;

	if (squared_length < DIST_TO_INTERM_POINT * DIST_TO_INTERM_POINT) {
		ThisRobot->speed.x = 0;
		ThisRobot->speed.y = 0;
		newpos.x = next_target_spot.x;
		newpos.y = next_target_spot.y;
	} else {
		if ((Frame_Time() > 0.001)) {
			float length = sqrt(squared_length);

			ThisRobot->speed.x = maxspeed * remaining_way.x / length;
			ThisRobot->speed.y = maxspeed * remaining_way.y / length;
			if (fabs(ThisRobot->speed.x * Frame_Time()) >= fabsf(remaining_way.x))
				ThisRobot->speed.x = remaining_way.x / Frame_Time();
			if (fabs(ThisRobot->speed.y * Frame_Time()) >= fabsf(remaining_way.y))
				ThisRobot->speed.y = remaining_way.y / Frame_Time();
			newpos.x = ThisRobot->pos.x + ThisRobot->speed.x * Frame_Time();
			newpos.y = ThisRobot->pos.y + ThisRobot->speed.y * Frame_Time();
		}
	}

	// Now the bot is moving, so maybe it's crossing a level's border ?
	// In this case, we have to reset the waypoints stored in the bot struct,
	// because those waypoints have no more sense in the new bot's level.

	if (!resolve_virtual_position(&newpos, &newpos))
		return;

	old_map_level = ThisRobot->pos.z;
	ThisRobot->pos.x = newpos.x;
	ThisRobot->pos.y = newpos.y;
	ThisRobot->pos.z = newpos.z;

	if (ThisRobot->pos.z != old_map_level) {	/* if the bot has changed level */
		// Prevent the bot from moving this frame
		clear_out_intermediate_points(&ThisRobot->pos, &ThisRobot->PrivatePathway[0], 5);

		// The waypoints used by the bot have no sense on this new level. They have
		// to be re-initialized. The closest available waypoint is chosen.
		int best_waypoint = enemy_find_closest_waypoint(ThisRobot);

		if (best_waypoint >= 0) {
			ThisRobot->homewaypoint = best_waypoint;
			ThisRobot->lastwaypoint = best_waypoint;
			ThisRobot->nextwaypoint = best_waypoint;
		} else {
			// No waypoint found, make this bot wander
			ThisRobot->combat_state = WAYPOINTLESS_WANDERING;
		}
		// Move the bot to the appropriate level list
		list_move(&ThisRobot->level_list, &(level_bots_head[ThisRobot->pos.z]));
	}

	DetermineAngleOfFacing(ThisRobot);
}

/**
 * This function moves one robot towards his next waypoint.  If already
 * there, the function does nothing more.
 */
static void MoveThisRobotTowardsHisCurrentTarget(enemy *ThisRobot)
{
	if (ThisRobot->animation_type == ATTACK_ANIMATION)
		return;

	if ((ThisRobot->PrivatePathway[0].x == ThisRobot->pos.x) && (ThisRobot->PrivatePathway[0].y == ThisRobot->pos.y)) {
		if (ThisRobot->PrivatePathway[1].x != -1) {
			int i;
			for (i = 1; i < 5; i++) {
				ThisRobot->PrivatePathway[i - 1].x = ThisRobot->PrivatePathway[i].x;
				ThisRobot->PrivatePathway[i - 1].y = ThisRobot->PrivatePathway[i].y;
			}
			ThisRobot->PrivatePathway[4].x = -1;
			ThisRobot->PrivatePathway[4].y = -1;
		}
		return;
	}

	move_enemy_to_spot(ThisRobot, ThisRobot->PrivatePathway[0]);

	if ((fabsf(ThisRobot->pos.x - ThisRobot->PrivatePathway[0].x) < 0.001)
	    && fabsf(ThisRobot->pos.y - ThisRobot->PrivatePathway[0].y) < 0.001) {	/* Have we reached our target ? */
		int i;
		for (i = 1; i < 5; i++) {
			ThisRobot->PrivatePathway[i - 1].x = ThisRobot->PrivatePathway[i].x;
			ThisRobot->PrivatePathway[i - 1].y = ThisRobot->PrivatePathway[i].y;
		}
		ThisRobot->PrivatePathway[4].x = -1;
		ThisRobot->PrivatePathway[4].y = -1;
	}

	if (ThisRobot->PrivatePathway[0].x == -1) {
		ThisRobot->PrivatePathway[0].x = ThisRobot->pos.x;
		ThisRobot->PrivatePathway[0].y = ThisRobot->pos.y;
	}
}

/**
 * This function sets a new waypoint to a bot.
 *
 * Returns TRUE if everything was OK, FALSE if couldn't set a new waypoint.
 *
 * The new waypoint is randomly chosen in a list of potentially usable
 * connections. We want the previous waypoint to have a lower probability
 * in order to avoid bots going back on their steps too often.
 *
 * This should imply to generate a non-uniform random value. However this
 * is not needed here. Let's say that we have 3 potential new waypoints
 * { A, B, C }, A being the previous waypoint. If p(A) is 3 times lower
 * than the probability of the other waypoints, then we can use a uniform
 * random value, to choose a waypoint in the following set:
 * { A, B, B, B, C, C, C }
 *
 * Implementation:
 *
 * instead of replicating waypoints, we only keep a restricted { B, C } set,
 * and use the following trick:
 *
 * - rnd is a random value in the [0, 7[ range. (7 = cardinality of the
 *   whole set, with replicated waypoints).
 * - if rnd is 0, then 'A' is chosen.
 * - if 1 <= rnd <= 3, so if (rnd-1)/3 == 0, then 'B' is chosen
 * - if 4 <= rnd <= 6, so if (rnd-1)/3 == 1, then 'C' is chosen
 *
 * so, if rnd != 0, then (rnd-1)/3 is the index of the waypoint to
 * choose in the 'restricted' set.
 */
static int set_new_random_waypoint(enemy *this_robot)
{
	const int PMULT = 3; // Probability multiplier
	int i;
	int nb_free_waypoints;
	int lastwaypoint_is_free;

	level *bot_level = curShip.AllLevels[this_robot->pos.z];

	// If the bot is not tied into the waypoint system, do not select a new waypoint
	if (this_robot->nextwaypoint == -1) {
		return FALSE;
	}

	// nextwaypoint is actually the waypoint that the bot just reached.
	waypoint *current_waypoint = &((waypoint *)bot_level->waypoints.arr)[this_robot->nextwaypoint];

	// Pre-condition: there must be some connections
	//
	int num_conn = current_waypoint->connections.size;
	if (num_conn == 0)	// no connections found!
	{
		error_message(__FUNCTION__,
				     "Found a waypoint without connection\n"
				     "The offending waypoint nr. is: %d at %d, %d.\n"
				     "The map level in question got nr.: %d.",
				     PLEASE_INFORM,
				     this_robot->nextwaypoint, current_waypoint->x, current_waypoint->y,
				     this_robot->pos.z);
		return FALSE;
	}

	// For each connected waypoint, check if the path to this waypoint
	// is free of droids, and if so, store the waypoint.
	// Special case (see function's comment): the previous waypoint
	// (called 'lastwaypoint') is not stored, but a flag is set if its
	// path is free.
	//
	nb_free_waypoints = 0;
	lastwaypoint_is_free = FALSE;
	freeway_context frw_ctx = { .check_tux = TRUE, .except_bots = {this_robot, NULL} };

	int free_waypoints[num_conn];
	int *connections = current_waypoint->connections.arr;

	waypoint *wpts = bot_level->waypoints.arr;
	for (i = 0; i < num_conn; i++) {
		waypoint *w = &wpts[connections[i]];

		int is_free = way_free_of_droids(current_waypoint->x + 0.5, current_waypoint->y + 0.5,
				w->x + 0.5, w->y + 0.5, this_robot->pos.z, &frw_ctx);
		if (is_free) {
			if (connections[i] != this_robot->lastwaypoint) {
				free_waypoints[nb_free_waypoints++] = connections[i];
			} else {
				lastwaypoint_is_free = TRUE;
			}
		}
	}

	// If no paths are free, make the bot wait a bit (use a random waiting
	// time, to help avoid 'deadlocks' between bots).
	//
	if (nb_free_waypoints == 0 && !lastwaypoint_is_free) {
		this_robot->pure_wait = 0.5 + (float)MyRandom(4)/8.0;
		return TRUE;
	}

	// Randomly chose one of the free connected waypoints.
	// (see function's comment)
	//
	int next_waypoint_id;

	if (lastwaypoint_is_free) {
		int rnd = MyRandom(PMULT*nb_free_waypoints); // range: [0, PMULT*nb_free_waypoints + 1[
		if (rnd != 0) {
			next_waypoint_id = free_waypoints[(rnd-1)/PMULT];
		} else {
			next_waypoint_id = this_robot->lastwaypoint;
		}
	} else {
		// If the previous waypoint is not free, then there's no need for any
		// specific random law...
		int rnd = MyRandom(nb_free_waypoints - 1);
		next_waypoint_id = free_waypoints[rnd];
	}

	// Set the new path
	//
	this_robot->lastwaypoint = this_robot->nextwaypoint;
	this_robot->nextwaypoint = next_waypoint_id;

	return TRUE;
}

/**
 * If the droid in question is currently not following the waypoint system
 * but rather moving around on it's own and without any real destination,
 * this function sets up randomly chosen targets for the droid.
 */
static void set_new_waypointless_walk_target(enemy * ThisRobot, pointf * mt)
{
	int i;
	pointf target_candidate;
	int success = FALSE;

#define MAX_RANDOM_WALK_ATTEMPTS_BEFORE_GIVING_UP 4

	for (i = 0; i < MAX_RANDOM_WALK_ATTEMPTS_BEFORE_GIVING_UP; i++) {
		// We select a possible new walktarget for this bot, not too
		// far away from the current position...
		//
		target_candidate.x = ThisRobot->pos.x + (MyRandom(600) - 300) / 100;
		target_candidate.y = ThisRobot->pos.y + (MyRandom(600) - 300) / 100;


		if (DirectLineColldet(ThisRobot->pos.x, ThisRobot->pos.y,
					target_candidate.x, target_candidate.y, ThisRobot->pos.z, &WalkablePassFilter)) {
			mt->x = target_candidate.x;
			mt->y = target_candidate.y;
			success = TRUE;
		}
	}

	if (!success) {
		ThisRobot->pure_wait = WAIT_COLLISION;
	}
};				// void set_new_waypointless_walk_target ( enemy* ThisRobot )

/**
 * When a (hostile) robot is defeated and explodes, it will drop some 
 * treasure, i.e. stuff it had or parts that it consisted of or similar
 * things.  Maybe there will even be some extra magical treasures if the
 * robot in question was a 'boss monster'.  This function does the 
 * treasure dropping.
 */
static void enemy_drop_treasure(struct enemy *this_droid)
{
	int extract_skill_level = Me.skill_level[get_program_index_with_name("Extract bot parts")];
	if (extract_skill_level > 5)
		extract_skill_level = 5;

	// If the Tux has the skill to extract certain components from dead bots,
	// these components will be thrown out automatically, when the bot is killed.
	//
	switch (extract_skill_level) {
	case 5:
		if (Droidmap[this_droid->type].amount_of_tachyon_condensators
		    && Droidmap[this_droid->type].amount_of_tachyon_condensators > MyRandom(100))
			DropItemAt(get_item_type_by_id("Tachyon Condensator"), this_droid->pos.z, this_droid->pos.x,
			           this_droid->pos.y, 1);
		// no break
	case 4:
		if (Droidmap[this_droid->type].amount_of_antimatter_converters
		    && Droidmap[this_droid->type].amount_of_antimatter_converters > MyRandom(100))
			DropItemAt(get_item_type_by_id("Antimatter-Matter Converter"), this_droid->pos.z, this_droid->pos.x,
			           this_droid->pos.y, 1);
		// no break
	case 3:
		if (Droidmap[this_droid->type].amount_of_superconductors
		    && Droidmap[this_droid->type].amount_of_superconductors > MyRandom(100))
			DropItemAt(get_item_type_by_id("Superconducting Relay Unit"), this_droid->pos.z, this_droid->pos.x,
			           this_droid->pos.y, 1);
		// no break
	case 2:
		if (Droidmap[this_droid->type].amount_of_plasma_transistors
		    && Droidmap[this_droid->type].amount_of_plasma_transistors > MyRandom(100))
			DropItemAt(get_item_type_by_id("Plasma Transistor"), this_droid->pos.z, this_droid->pos.x,
			           this_droid->pos.y, 1);
		// no break
	case 1:
		if (Droidmap[this_droid->type].amount_of_entropy_inverters
		    && Droidmap[this_droid->type].amount_of_entropy_inverters > MyRandom(100))
			DropItemAt(get_item_type_by_id("Entropy Inverter"), this_droid->pos.z, this_droid->pos.x,
			           this_droid->pos.y, 1);
		// no break
	case 0:
		break;
	}

	if (this_droid->on_death_drop_item_code != (-1)) {
		// We make sure the item created is of a reasonable type
		//
		if ((this_droid->on_death_drop_item_code <= 0) || (this_droid->on_death_drop_item_code >= Number_Of_Item_Types)) {
			error_message(__FUNCTION__, "Bot at %f %f (level %d, dialog %s) is specified to drop an item that doesn't exist (item type %d).", PLEASE_INFORM, this_droid->pos.x, this_droid->pos.y, this_droid->pos.z, this_droid->dialog_section_name, this_droid->on_death_drop_item_code);
			return;
		}

		DropItemAt(this_droid->on_death_drop_item_code, this_droid->pos.z, this_droid->pos.x, this_droid->pos.y, 1);
		this_droid->on_death_drop_item_code = -1;
	}
	// Apart from the parts, that the Tux might be able to extract from the bot,
	// there is still some chance, that the enemy will have (and drop) some other
	// valuables, that the Tux can then collect afterwards.
	//
	drop_random_item(this_droid->pos.z, this_droid->pos.x, this_droid->pos.y, Droidmap[this_droid->type].drop_class, FALSE);
}

/**
 * When an enemy is hit, this causes some blood to be sprayed on the floor.
 * The blood is just an obstacle (several types of blood exist) with 
 * preput flag set, so that the Tux and everyone can really step *on* the
 * blood.
 *
 * Blood will always be sprayed, but there is a toggle available for making
 * the blood visible/invisible for more a children-friendly version of the
 * game.
 *
 * This function does the blood spraying (adding of these obstacles).
 */
static void enemy_spray_blood(struct enemy *droid)
{
	// Fix virtual position (e.g. from a dying robot)
	struct gps droid_pos = { -1, -1, -1 };
	if (!resolve_virtual_position(&droid_pos, &droid->pos)) {
		return;
	}

	// Find a random position that is inside the droid's level
	// (that's not mandatory, but ease computation), and outside any obstacle
	struct gps blood_pos = { -1, -1, -1 };

	struct level *rlvl = curShip.AllLevels[droid_pos.z];
	const int tries = 4;
	int i;
	for (i = 0; i < tries; i++) {
		pointf tried_pos = { 0.5, 0 };
		RotateVectorByAngle(&tried_pos, MyRandom(360));
		tried_pos.x += droid_pos.x;
		tried_pos.y += droid_pos.y;
		if (pos_inside_level(tried_pos.x, tried_pos.y, rlvl)) {
			if (!SinglePointColldet(tried_pos.x, tried_pos.y, droid_pos.z, NULL))
				continue;
			blood_pos.x = tried_pos.x;
			blood_pos.y = tried_pos.y;
			blood_pos.z = droid_pos.z;
			break;
		}
	}
	if (i == tries) {
		// Was not able to find a random position inside the level, use bot's position
		blood_pos.x = droid_pos.x;
		blood_pos.y = droid_pos.y;
		blood_pos.z = droid_pos.z;
	}

	// Get a random blood print

	struct obstacle_group *blood_group = NULL;

	if (Droidmap[droid->type].is_human)
		blood_group = get_obstacle_group_by_name("blood");
	else
		blood_group = get_obstacle_group_by_name("oil stains");

	if (!blood_group) {
		error_message(__FUNCTION__, "Could not find obstacle group for blood.", PLEASE_INFORM);
		return;
	}

	int *random_blood_type = dynarray_member(&blood_group->members, MyRandom(blood_group->members.size - 1), sizeof(int));
	struct obstacle_spec *obs_spec = get_obstacle_spec(*random_blood_type);
	add_volatile_obstacle(curShip.AllLevels[blood_pos.z], blood_pos.x, blood_pos.y, *random_blood_type, obs_spec->vanish_delay + obs_spec->vanish_duration);
}

/**
 * When a robot has reached energy <= 1, then this robot will explode and
 * die, lose some treasure and add up to the kill record of the Tux.  All
 * the things that should happen when energy is that low are handled here
 * while the check for low energy is done outside of this function namely
 * somewhere in the movement processing for this enemy.
 */
static int kill_enemy(enemy * target, char givexp, int killertype)
{
	int reward = 0;

	/* Give death message */
	if (givexp) {
		reward = Droidmap[target->type].experience_reward * Me.experience_factor;
		Me.Experience += reward;
	}

	if (is_friendly(target->faction, FACTION_SELF)) {
		if (killertype > -1) {	    //killed by someone else, and we know who it is
			enemy *killer = NULL;
			killer = enemy_resolve_address(killertype, &killer);
			// TRANSLATORS: Your friend <bot's short description> was killed by <bot's short description>
			append_new_game_message(_("Your friend [s]%s[v] was killed by %s."),
			                        D_(target->short_description_text), D_(killer->short_description_text));
		} else if ((killertype == -1) && (givexp)) {      //You killed someone
			// TRANSLATORS: You killed <bot's short description>
			append_new_game_message(_("You killed [s]%s[v]."), D_(target->short_description_text));
			Me.destroyed_bots[target->type]++;
		} else if (killertype == -2) {  //bot killed itself
			// TRANSLATORS: <bot's short description> halted and caught fire
			append_new_game_message(_("[s]%s[v] halted and caught fire."), D_(target->short_description_text));
		} else {
			// TRANSLATORS: <bot's short description> is dead
			append_new_game_message(_("[s]%s[v] is dead."), D_(target->short_description_text));
		}
	} else {
		if (givexp && (killertype == -1)) {
			// TRANSLATORS: For defeating <bot's short description>, you receive <10> experience
			append_new_game_message(_("For defeating [s]%s[v], you receive %d experience."), D_(target->short_description_text),
						reward);
			Me.destroyed_bots[target->type]++;		
		}

		//	The below section is much more of debug info that something that actually should be "spammed" to the user by default.
		//	Possibly Tux could know about fighting going on in the immediate vicinity, but for sure not on the other side of the world map.
		//	It just confuses beginners while giving little or no valuable info to even an experienced player.
		/*
 		else if (killertype && killertype != -1)
			append_new_game_message(_("[s]%s[v] was killed by %s."), target->short_description_text,
						Droidmap[killertype].droidname);
		else
			append_new_game_message(_("[s]%s[v] died."), target->short_description_text);
		 */
	}

	// Clean the bot status, to avoid to color the bot corpse

	target->frozen = 0;
	target->poison_duration_left = 0;
	target->poison_damage_per_sec = 0;
	target->paralysation_duration_left = 0;

	// NOTE:  We reset the animation phase to the first death animation image
	//        here.  But this may be WRONG!  In the case that the enemy graphics
	//        hasn't been loaded yet, this will result in '1' for the animation
	//        phase.  That however is unlikely to happen unless the bot is killed
	//        right now and hasn't been ever visible in the game yet.  Also it
	//        will lead only to minor 'prior animation' before the real death
	//        phase is reached and so serious bugs other than that, so I think it
	//        will be tolerable this way.

	target->animation_phase = ((float)Droidmap[target->type].death_animation_first_image) - 1 + 0.1;
	target->animation_type = DEATH_ANIMATION;
	play_droid_death_sound(target);

	enemy_drop_treasure(target);

	if (MyRandom(15) == 1)
		enemy_spray_blood(target);

	list_move(&(target->global_list), &dead_bots_head); // bot is dead. move it to dead list
	list_del(&(target->level_list));                    // bot is dead. remove it from level list

	event_enemy_died(target);

	return 0;
}

/**
 *
 *
 */
static void start_gethit_animation(enemy * ThisRobot)
{
	// Maybe this robot is fully animated.  In this case, after getting
	// hit, the gethit animation should be displayed, which we'll initiate here.
	//
	if ((Droidmap[ThisRobot->type].gethit_animation_last_image - Droidmap[ThisRobot->type].gethit_animation_first_image > 0)) {
		if (ThisRobot->animation_type == DEATH_ANIMATION) {
			DebugPrintf(-4, "\n%s(): WARNING: animation phase reset for INFOUT bot... ", __FUNCTION__);
		}
		ThisRobot->animation_phase = ((float)Droidmap[ThisRobot->type].gethit_animation_first_image) + 0.1;
		ThisRobot->animation_type = GETHIT_ANIMATION;
	}

};				// void start_gethit_animation_if_applicable ( enemy* ThisRobot ) 

/*
 *  Hit an enemy for "hit" HP. This is supposed to be the *only* means 
 *  of removing HPs to a bot.
 *
 *  target is a pointer to the bot to hit
 *  hit is the amount of HPs to remove
 *  givexp (0 or 1) indicates whether to give an XP reward to the player or not
 *  killertype is the id of the bot who is responsible of the attack, or -1 if it is unknown
 *  or if it is the player, -2 for a non-human dialog-killed droid.  
 *  mine is 0 or 1 depending on whether it's the player who is responsible for the attack
 */
void hit_enemy(enemy * target, float hit, char givexp, short int killertype, char mine)
{
	/*
	 * turn group hostile
	 * spray blood
	 * enter hitstun
	 * say a funny message
	 * remove hp
	 * check if droid is dead
	 */

	if (target->energy <= 0) {
		// Do not kill already dead enemies
		return;
	}

	// no XP is given for killing a friendly bot
	if (is_friendly(target->faction, FACTION_SELF) && givexp)
		givexp = 0;

	// hitstun
	// a hit that does less than 5% (over max life) damage cannot stun a bot
	if (hit / Droidmap[target->type].maxenergy >= 0.05) {
		start_gethit_animation(target);

		// if the current wait time of the bot is greater than the hitstun duration, we do nothing
		if (target->firewait < Droidmap[target->type].recover_time_after_getting_hit) {
			target->firewait = Droidmap[target->type].recover_time_after_getting_hit;
		}
	}

	target->energy -= hit;
	if (target->energy <= 0) {
		kill_enemy(target, givexp, killertype);
	} else if (hit > 1 && MyRandom(6) == 1) {
		enemy_spray_blood(target);
	}
	if (mine)
		Me.damage_dealt[target->type] += hit;
}

/**
 * This function moves a single enemy.  It is used by update_enemy().
 */
static void MoveThisEnemy(enemy * ThisRobot)
{
	// robots that still have to wait also do not need to
	// be processed for movement
	//
	if (ThisRobot->pure_wait > 0)
		return;

	gps oldpos = { ThisRobot->pos.x, ThisRobot->pos.y, ThisRobot->pos.z };

	MoveThisRobotTowardsHisCurrentTarget(ThisRobot);

	if (CheckEnemyEnemyCollision(ThisRobot)) {
		ThisRobot->pos.x = oldpos.x;
		ThisRobot->pos.y = oldpos.y;
		ThisRobot->pos.z = oldpos.z;
	}
};

/**
 * This function returns a gps (position) for a robot's current target, 
 * or NULL if such target doesn't exist or is dead or is invisible (if target is Tux)
 */
static gps *enemy_get_target_position(enemy * ThisRobot)
{
	if (ThisRobot->attack_target_type == ATTACK_TARGET_IS_PLAYER) {

		if (can_see_tux(ThisRobot))
			return &Me.pos;
		else
			return NULL;

	} else if (ThisRobot->attack_target_type == ATTACK_TARGET_IS_ENEMY) {
		enemy *bot_enemy = enemy_resolve_address(ThisRobot->bot_target_n, &ThisRobot->bot_target_addr);
		if (!bot_enemy || bot_enemy->energy <= 0)
			return NULL;
		return &bot_enemy->pos;
	}

	/* No (more) target */
	return NULL;
}

/**
 * More for debugging purposes, we print out the current state of the
 * robot as his in-game text.
 */
void enemy_say_current_state_on_screen(enemy * ThisRobot)
{
	if (ThisRobot->pure_wait <= 0) {
		switch (ThisRobot->combat_state) {
		case MOVE_ALONG_RANDOM_WAYPOINTS:
			ThisRobot->TextToBeDisplayed = ("state:  Wandering along waypoints.");
			break;
		case SELECT_NEW_WAYPOINT:
			ThisRobot->TextToBeDisplayed = ("state: Select next WP.");
			break;
		case TURN_TOWARDS_NEXT_WAYPOINT:
			ThisRobot->TextToBeDisplayed = ("state:  Turn towards next WP.");
			break;
		case RUSH_TUX_AND_OPEN_TALK:
			ThisRobot->TextToBeDisplayed = ("state:  Rush Tux and open talk.");
			break;
		case STOP_AND_EYE_TARGET:
			ThisRobot->TextToBeDisplayed = ("state:  Stop and eye target.");
			break;
		case ATTACK:
			ThisRobot->TextToBeDisplayed = ("state:  Attack.");
			break;
		case RETURNING_HOME:
			ThisRobot->TextToBeDisplayed = ("state:  Returning home.");
			break;
		case WAYPOINTLESS_WANDERING:
			ThisRobot->TextToBeDisplayed = ("state:  Waypointless wandering.");
			break;
		case PARALYZED:
			ThisRobot->TextToBeDisplayed = ("state:  Paralyzed.");
			break;
		case COMPLETELY_FIXED:
			ThisRobot->TextToBeDisplayed = ("state: Completely fixed.");
			break;
		case FOLLOW_TUX:
			ThisRobot->TextToBeDisplayed = ("state: Follow Tux.");
			break;
		case UNDEFINED_STATE:
			ThisRobot->TextToBeDisplayed = ("state: None.");
			break;
		default:
			ThisRobot->TextToBeDisplayed = ("state:  UNHANDLED!!");
			break;
		}
	} else {
		switch (ThisRobot->combat_state) {
			case MOVE_ALONG_RANDOM_WAYPOINTS:
				ThisRobot->TextToBeDisplayed = ("purewait (MARW)");
				break;
			case SELECT_NEW_WAYPOINT:
				ThisRobot->TextToBeDisplayed = ("purewait (SNW)");
				break;
			case TURN_TOWARDS_NEXT_WAYPOINT:
				ThisRobot->TextToBeDisplayed = ("purewait (TTNW)");
				break;
			case RUSH_TUX_AND_OPEN_TALK:
				ThisRobot->TextToBeDisplayed = ("purewait (RTAOT)");
				break;
			case STOP_AND_EYE_TARGET:
				ThisRobot->TextToBeDisplayed = ("purewait (SAET)");
				break;
			case ATTACK:
				ThisRobot->TextToBeDisplayed = ("purewait (A)");
				break;
			case RETURNING_HOME:
				ThisRobot->TextToBeDisplayed = ("purewait (RH)");
				break;
			case WAYPOINTLESS_WANDERING:
				ThisRobot->TextToBeDisplayed = ("purewait (WW)");
				break;
			case PARALYZED:
				ThisRobot->TextToBeDisplayed = ("purewait (P)");
				break;
			case COMPLETELY_FIXED:
				ThisRobot->TextToBeDisplayed = ("purewait (CF)");
				break;
			case FOLLOW_TUX:
				ThisRobot->TextToBeDisplayed = ("purewait (FT)");
				break;
			case UNDEFINED_STATE:
				ThisRobot->TextToBeDisplayed = ("purewait (US)");
				break;
			default:
				ThisRobot->TextToBeDisplayed = ("purewait (UNH)");
				break;
		}
	}

	ThisRobot->TextVisibleTime = 0;

};				// void enemy_say_current_state_on_screen ( enemy* ThisRobot )

/**
 * Some robots (currently) tend to get stuck in walls.  This is an 
 * annoying bug case we have not yet been able to eliminate completely.
 * To provide some safety against this case, some extra fallback handling
 * should be introduced, so that the bots can still recover if that 
 * unlucky case really happens, which is what we provide here.
 *
 * Since passability checks usually can become quite costly in terms of 
 * processor time and also because it makes sense to allow for some more
 * 'natural' fallbacks to work, we only check for stuck bots every second
 * or so.  In order to better distribute the checks (and not cause fps
 * glitches by doing them all at once) we use individual timers for this
 * test.
 */
void enemy_handle_stuck_in_walls(enemy * ThisRobot)
{
	waypoint *wpts = curShip.AllLevels[ThisRobot->pos.z]->waypoints.arr;

	// Maybe the time for the next check for this bot has not yet come.
	// in that case we can return right away.
	//
	ThisRobot->time_since_previous_stuck_in_wall_check += Frame_Time();
	if (ThisRobot->time_since_previous_stuck_in_wall_check < 1.0)
		return;
	ThisRobot->time_since_previous_stuck_in_wall_check = 0;

	// First we take a look if this bot is currently stuck in a
	// wall somewhere.
	//
	if (!SinglePointColldet(ThisRobot->pos.x, ThisRobot->pos.y, ThisRobot->pos.z, &WalkablePassFilter)) {
		// So at this point we know, that we have a bot that is stuck right now,
		// has been stuck one second ago and also is not moving along waypoints, which
		// would lead to the bot reaching some sensible spot sooner or later anyway.
		// In one word:  we have arrived in a situation that might make a crude correction
		// sensible.  We teleport the robot back to the nearest waypoint.  From there, it
		// might find a suitable way on it's own again.
		//      
		DebugPrintf(-2, "\n\nFound robot that seems really stuck on position: %f/%f/%d.",
			    ThisRobot->pos.x, ThisRobot->pos.y, ThisRobot->pos.z);
		DebugPrintf(-2, "\nMore details on this robot:  Type=%d.", ThisRobot->type);
		DebugPrintf(-2, "\nShort Description=%s.", ThisRobot->short_description_text);
		DebugPrintf(-2, "\nPrivate Pathway[0]: %f/%f.", ThisRobot->PrivatePathway[0].x, ThisRobot->PrivatePathway[0].y);
		DebugPrintf(-2, "\nPrivate Pathway[1]: %f/%f.", ThisRobot->PrivatePathway[1].x, ThisRobot->PrivatePathway[1].y);
		DebugPrintf(-2, "\nnextwaypoint: %d at %f/%f",
			    ThisRobot->nextwaypoint, wpts[ThisRobot->nextwaypoint].x + 0.5, wpts[ThisRobot->nextwaypoint].y + 0.5);

		enemy_say_current_state_on_screen(ThisRobot);
		DebugPrintf(-2, "\nnextwaypoint=%d. lastwaypoint=%d. combat_%s.",
			    ThisRobot->nextwaypoint, ThisRobot->lastwaypoint, (ThisRobot->TextToBeDisplayed) ? ThisRobot->TextToBeDisplayed : "NONE");

		if (!EscapeFromObstacle(&(ThisRobot->pos.x), &(ThisRobot->pos.y), ThisRobot->pos.z, &WalkablePassFilter)) {
			// No free position was found outside the obstacle ???
			// It should not happen but since we want the bot to escape in any situation, just have a last fallback
			//
			ThisRobot->pos.x = wpts[ThisRobot->nextwaypoint].x + 0.5;
			ThisRobot->pos.y = wpts[ThisRobot->nextwaypoint].y + 0.5;
		}
		ThisRobot->combat_state = SELECT_NEW_WAYPOINT;
		ThisRobot->bot_stuck_in_wall_at_previous_check = TRUE;
		return;
	} else {
		// this bot isn't currently stuck.  what more could anybody want?
		ThisRobot->bot_stuck_in_wall_at_previous_check = FALSE;
	}
};				// enemy_handle_stuck_in_walls ( enemy* ThisRobot )

/**
 * This function selects a target for a friendly bot. 
 * It takes closest reachable enemy bot in view range.
 * A new target is selected at each frame. This should prevent a friendly bot to follow
 * an enemy and thus get too far away from its "steady" position.
 *
 * Note : this function does set ThisRobbot->attack_target_type, and calls enemy_set_reference()
 *        accordingly to its finding.
 */
void update_vector_to_shot_target_for_friend(enemy * ThisRobot)
{
	float aggression_distance = Droidmap[ThisRobot->type].aggression_distance;
	float squared_aggression_distance = aggression_distance * aggression_distance;
	float squared_best_dist;

	/*
	   if ( ThisRobot->pure_wait > 0 )
	   {    // Target was not reachable
	   // We could, for example, try to find another target
	   // But we should not do that as soon as the bot is pure_waiting,
	   // because it could be a very temporary state.
	   // So, a "pure_waiting" counter would be needed...
	   }
	 */

	// We set some default values, in case there isn't anything attackable
	// found below...
	ThisRobot->attack_target_type = ATTACK_TARGET_IS_NOTHING;
	enemy_set_reference(&ThisRobot->bot_target_n, &ThisRobot->bot_target_addr, NULL);

	// This initialization ensures that only targets inside aggression_distance are checked.
	squared_best_dist = squared_aggression_distance;

	enemy *erot;
	BROWSE_LEVEL_BOTS(erot, ThisRobot->pos.z) {
		if (is_friendly(ThisRobot->faction, erot->faction))
			continue;

		if (is_potential_target(ThisRobot, &erot->pos, &squared_best_dist)) {
			ThisRobot->attack_target_type = ATTACK_TARGET_IS_ENEMY;
			enemy_set_reference(&ThisRobot->bot_target_n, &ThisRobot->bot_target_addr, erot);
		}
	}

}				// void update_vector_to_shot_target_for_friend ( ThisRobot )

/**
 * This function selects an attack target for an hostile bot.
 * Selected target is the previous target if it is still valid (see paragraph below),
 * or the closest potential target.
 *
 * For gameplay value purposes, it also performs a little hack : the target of 
 * the previous frame can be selected even if it is "slightly" out of view (2 times the range),
 * in order to simulate "pursuit". Sorry for the mess but there is no other proper place for that.
 *
 * Note : this function does set this_robot->attack_target_type, and calls enemy_set_reference()
 *        accordingly to its finding.
 */
void update_vector_to_shot_target_for_enemy(enemy * this_robot)
{
	int our_level = this_robot->pos.z;
	float squared_best_dist;
	float xdist, ydist;
	float aggression_distance = Droidmap[this_robot->type].aggression_distance;
	float squared_aggression_distance = aggression_distance * aggression_distance;

	// Check validity of old target (if any)
	//
	// Logic : 
	// A target is valid if :
	// 1- always available (not dead and not invisible)
	// 2- was reachable (this_robot was not blocked along its way to the target)
	// 3- is not too far
	// 
	gps *tpos = enemy_get_target_position(this_robot);

	if (!tpos) {		// Old target is no more available
		this_robot->attack_target_type = ATTACK_TARGET_IS_NOTHING;
		enemy_set_reference(&this_robot->bot_target_n, &this_robot->bot_target_addr, NULL);
	}
	/*
	   else if ( this_robot->pure_wait > 0 )
	   {    // Target was not reachable
	   // We could, for example, try to find another target
	   // But we should not do that as soon as the bot is pure_waiting,
	   // because it could be a very temporary state.
	   // So, a "pure_waiting" counter would be needed...
	   }
	 */
	else if (this_robot->attack_target_type != ATTACK_TARGET_IS_NOTHING) {
		// Check virtual distance
		update_virtual_position(&this_robot->virt_pos, &this_robot->pos, tpos->z);
		if (this_robot->virt_pos.z == -1) {	// Target is at more than one level away
			this_robot->attack_target_type = ATTACK_TARGET_IS_NOTHING;
			enemy_set_reference(&this_robot->bot_target_n, &this_robot->bot_target_addr, NULL);
		} else {
			xdist = tpos->x - this_robot->virt_pos.x;
			ydist = tpos->y - this_robot->virt_pos.y;

			if ((xdist * xdist + ydist * ydist) > 3.0*3.0) {	
				/// Previous target is too far away to follow without checking if
				// there are enemies located closer
				this_robot->attack_target_type = ATTACK_TARGET_IS_NOTHING;
				enemy_set_reference(&this_robot->bot_target_n, &this_robot->bot_target_addr, NULL);
			} else {
				// All tests passed : Continue with same target
				return;
			}
		}
	}
	// Search for a new target
	//

	// This initialization ensures that only targets inside aggression_distance are checked.
	squared_best_dist = squared_aggression_distance;

	// First check if Tux is a potential target
	if (can_see_tux(this_robot)) {
		if (is_potential_target(this_robot, &Me.pos, &squared_best_dist)) {
			this_robot->attack_target_type = ATTACK_TARGET_IS_PLAYER;
		}
	}
	// But maybe there is a friend of the Tux also close.  Then maybe we
	// should attack this one instead, since it's much closer anyway.
	enemy *erot;
	BROWSE_LEVEL_BOTS(erot, our_level) {
		if (is_friendly(erot->faction, this_robot->faction))
			continue;

		if (is_potential_target(this_robot, &erot->pos, &squared_best_dist)) {
			this_robot->attack_target_type = ATTACK_TARGET_IS_ENEMY;
			enemy_set_reference(&this_robot->bot_target_n, &this_robot->bot_target_addr, erot);
		}
	}

}				// void update_vector_to_shot_target_for_enemy ( ThisRobot )

/**
 * This function handles the inconditional updates done to the bots by
 * the automaton powering them. See update_enemy().
 */
static void state_machine_inconditional_updates(enemy * ThisRobot)
{
	// Robots that are paralyzed are completely stuck and do not 
	// see their state machine running

	// For debugging purposes we display the current state of the robot
	// in game
	enemy_say_current_state_on_screen(ThisRobot);

	// we check whether the current robot is 
	// stuck inside a wall or something...
	//
	enemy_handle_stuck_in_walls(ThisRobot);

	// determine the distance vector to the target of this shot.  The target
	// depends of course on whether it's a friendly device or a hostile device.
	//
	if (is_friendly(ThisRobot->faction, FACTION_SELF)) {
		update_vector_to_shot_target_for_friend(ThisRobot);
	} else {
		update_vector_to_shot_target_for_enemy(ThisRobot);
	}

	ThisRobot->speed.x = 0;
	ThisRobot->speed.y = 0;

}

/**
 * This function handles state transitions based solely (or almost) on 
 * the external situation and not on the current state of the bot. 
 * The purpose is to reduce code duplication in the "big switch" that follows.
 */
static void state_machine_situational_transitions(enemy * ThisRobot)
{
	waypoint *wpts = curShip.AllLevels[ThisRobot->pos.z]->waypoints.arr;

	/* The various situations are listed in increasing priority order (ie. they may override each other, so the least priority comes first. */
	/* In an ideal world, this would not exist and be done for each state. But we're in reality and have to limit code duplication. */

	// Rush Tux when he's close & visible
	update_virtual_position(&ThisRobot->virt_pos, &ThisRobot->pos, Me.pos.z);
	if (ThisRobot->will_rush_tux && ThisRobot->virt_pos.z != -1 && can_see_tux(ThisRobot)
	    && (powf(Me.pos.x - ThisRobot->virt_pos.x, 2) + powf(Me.pos.y - ThisRobot->virt_pos.y, 2)) < 16) {
		ThisRobot->combat_state = RUSH_TUX_AND_OPEN_TALK;
	}

	// Transition away from Rush Tux gracefully if it is unset or if the bot became aggressive
	if (ThisRobot->combat_state == RUSH_TUX_AND_OPEN_TALK) {
		if (!ThisRobot->will_rush_tux)
			ThisRobot->combat_state = UNDEFINED_STATE;
			
		if (!is_friendly(ThisRobot->faction, FACTION_SELF)) {
			ThisRobot->combat_state = UNDEFINED_STATE;
			ThisRobot->will_rush_tux = 0;
		}
	}

	/* Return home if we're too far away */
	if (ThisRobot->max_distance_to_home != 0 &&
	    sqrt(powf((wpts[ThisRobot->homewaypoint].x + 0.5) - ThisRobot->pos.x, 2) +
		 powf((wpts[ThisRobot->homewaypoint].y + 0.5) - ThisRobot->pos.y, 2))
	    > ThisRobot->max_distance_to_home) {
		ThisRobot->combat_state = RETURNING_HOME;
		ThisRobot->attack_target_type = ATTACK_TARGET_IS_NOTHING;
		enemy_set_reference(&ThisRobot->bot_target_n, &ThisRobot->bot_target_addr, NULL);
	}

	/* Paralyze if appropriate */
	if (ThisRobot->paralysation_duration_left > 0) {
		ThisRobot->combat_state = PARALYZED;
	}

	/* Now we will handle changes, which take place for many - but not exactly all - states */
	/* Those are all related to attack behavior */

	switch (ThisRobot->combat_state) {	/* Get out for all states we don't want to handle attack for */
	case STOP_AND_EYE_TARGET:
	case ATTACK:
	case PARALYZED:
	case RETURNING_HOME:
	case SELECT_NEW_WAYPOINT:
	case RUSH_TUX_AND_OPEN_TALK:
		return;
	}

	/* Fix completely if appropriate */
	if (ThisRobot->CompletelyFixed) {
		ThisRobot->combat_state = COMPLETELY_FIXED;
	}

	/* Follow Tux if appropriate */
	if (ThisRobot->follow_tux) {
		ThisRobot->combat_state = FOLLOW_TUX;
	}

	/* Switch to stop_and_eye_target if appropriate - it's the prelude to any-on-any attacks */
	if (ThisRobot->attack_target_type != ATTACK_TARGET_IS_NOTHING) {
		ThisRobot->combat_state = STOP_AND_EYE_TARGET;
	}

	/* If combat_state is UNDEFINED_STATE, go to SELECT_NEW_WAYPOINT state */
	if (ThisRobot->combat_state == UNDEFINED_STATE) {
		ThisRobot->combat_state = SELECT_NEW_WAYPOINT;
	}
}

/* ----------------------------------------------------------
 * "stop and eye tux" state handling 
 * ---------------------------------------------------------- */
static void state_machine_stop_and_eye_target(enemy * ThisRobot, pointf * new_move_target)
{
	gps *tpos = enemy_get_target_position(ThisRobot);

	// Target no more available -> going to default state
	if (!tpos) {
		ThisRobot->state_timeout = 0;
		ThisRobot->combat_state = UNDEFINED_STATE;
		ThisRobot->attack_target_type = ATTACK_TARGET_IS_NOTHING;
		enemy_set_reference(&ThisRobot->bot_target_n, &ThisRobot->bot_target_addr, NULL);
		return;
	}

	update_virtual_position(&ThisRobot->virt_pos, &ThisRobot->pos, tpos->z);

	/* Make sure we're looking at the target */
	gps target_vpos;
	update_virtual_position(&target_vpos, tpos, ThisRobot->pos.z);
	TurnABitTowardsPosition(ThisRobot, target_vpos.x, target_vpos.y, 120);

	/* Do greet sound if not already done */
	if (!ThisRobot->has_greeted_influencer) {
		ThisRobot->has_greeted_influencer = TRUE;
		if (Droidmap[ThisRobot->type].greeting_sound) {
			play_droid_greeting_sound(ThisRobot);
		}
	}

	/* Check state timeout */

	//XXX if the target is out of sight, we should resume normal operation. not the case currently

	// After some time, we'll no longer eye the Tux but rather do something,
	// like attack the Tux or maybe also return to 'normal' operation and do
	// nothing.  When Tux is still visible at timeout, then it will be attacked... otherwise
	// the robot resumes normal operation...
	//
	ThisRobot->state_timeout += Frame_Time();
	if (ThisRobot->state_timeout > Droidmap[ThisRobot->type].time_spent_eyeing_tux) {
		ThisRobot->state_timeout = 0;
		SetRestOfGroupToState(ThisRobot, ATTACK);
		ThisRobot->combat_state = ATTACK;
		ThisRobot->last_combat_step = ATTACK_MOVE_RATE + 1.0;	// So that attack will start immediately
		if (Droidmap[ThisRobot->type].attack_sound) {
			play_droid_attack_sound(ThisRobot);
		}
	}
}

/* ---------------------------------
 * "attack tux" state
 * 
 * This function will compute the destination position of a bot in order
 * to reach its target. In the caller (update_enemy), the pathfinder is 
 * called, to define the path of the bot up to its target.
 * 
 * This function will also eventually start a shoot.
 * 
 * --------------------------------- */

/*
 * Note concerning the modification of pathfinder_context :
 * 
 * When we ask the pathfinder to find a path between two points, the pathfinder 
 * will, by default, check if no bots are blocking the path.
 * Let consider the following case : an attacking bot (B1) with a melee weapon 
 * is at the entrance of a corridor. Its target (T) is inside the corridor, and an 
 * other bot (B2) is also inside the corridor :
 *       ---------------------
 *   B1                 B2 T
 *       ---------------------
 * In this case, the pathfinder will not be able to find a way between B1 and T.
 * B1 will thus not move.
 * 
 * However, if B1 were able to go just behind B2, it could be near enough to its
 * target to shoot it :
 *       ---------------------
 *                   B1 B2 T
 *       ---------------------
 * Such behavior will make B1 be as aggressive as possible.
 * We will only use it with friendly bots, so that the game is not too hard.
 * 
 * To implement this behavior, we have to tell the pathfinder not to check
 * collisions with bots. This is implemented in ReachMeleeCombat(). 
 */
static void state_machine_attack(enemy * ThisRobot, pointf * new_move_target, pathfinder_context * pf_ctx)
{
	// Not yet time to computer a new bot's move, or to start a new shoot
	if (ThisRobot->firewait > 0.0 && ThisRobot->last_combat_step < ATTACK_MOVE_RATE)
		return;

	// Get old target's position
	gps *tpos = enemy_get_target_position(ThisRobot);

	// Target no more available -> going to default state
	if (!tpos) {
		ThisRobot->combat_state = UNDEFINED_STATE;
		ThisRobot->attack_target_type = ATTACK_TARGET_IS_NOTHING;
		enemy_set_reference(&ThisRobot->bot_target_n, &ThisRobot->bot_target_addr, NULL);
		return;
	}
	// In case the target is on another level, evaluate the virtual position of the bot
	// in the target's level
	update_virtual_position(&ThisRobot->virt_pos, &ThisRobot->pos, tpos->z);

	// First compute the type of the bot's move, and if the target can be shot,
	// depending on the weapon's type and the distance to the target
	//
	gps move_pos = { tpos->x, tpos->y, tpos->z };

	enum {
		NO_MOVE,
		REACH_MELEE,
		MOVE_MELEE,
		MOVE_AWAY
	} move_type = NO_MOVE;

	int shoot_target = FALSE;
	int melee_weapon = ItemMap[Droidmap[ThisRobot->type].weapon_id].weapon_is_melee;

	if (melee_weapon) {
		// The bot and its target are on different levels.
		if (ThisRobot->pos.z != move_pos.z) {
			// Before to start the attack, the bot has to reach its target's level.
			// Hence, compute virtual position to reach, and wait until the bot is at
			// the right level.
			update_virtual_position(&move_pos, tpos, ThisRobot->pos.z);
			move_type = REACH_MELEE;
			shoot_target = FALSE;
			goto EXECUTE_ATTACK;
		}

		// Check visibility
		int target_visible =
		    DirectLineColldet(ThisRobot->virt_pos.x, ThisRobot->virt_pos.y, move_pos.x, move_pos.y, move_pos.z,
				      &WalkablePassFilter);

		if (!target_visible) {
			move_type = REACH_MELEE;
			shoot_target = FALSE;
			goto EXECUTE_ATTACK;
		}
		// Check distance               
		float dist2 =
		    (ThisRobot->virt_pos.x - move_pos.x) * (ThisRobot->virt_pos.x - move_pos.x) + (ThisRobot->virt_pos.y -
												   move_pos.y) * (ThisRobot->virt_pos.y -
														  move_pos.y);

		if (dist2 > SQUARED_MELEE_APPROACH_DIST) {
			move_type = REACH_MELEE;
			shoot_target = FALSE;
			goto EXECUTE_ATTACK;
		}

		if (dist2 > SQUARED_MELEE_MAX_DIST) {	// Approaching the target -> find a place near the bot
			move_type = MOVE_MELEE;
			shoot_target = FALSE;
			goto EXECUTE_ATTACK;
		}
		// All tests passed, the bot can shot.
		shoot_target = TRUE;
		goto EXECUTE_ATTACK;
	}

	else			// Range weapon

	{
		// Check visibility                     
		int target_visible =
		    DirectLineColldet(ThisRobot->virt_pos.x, ThisRobot->virt_pos.y, move_pos.x, move_pos.y, move_pos.z, &FlyablePassFilter);

		if (!target_visible) {
			move_type = REACH_MELEE;
			shoot_target = FALSE;
			goto EXECUTE_ATTACK;
		}
		// Check distance
		float dist2 =
		    (ThisRobot->virt_pos.x - move_pos.x) * (ThisRobot->virt_pos.x - move_pos.x) + (ThisRobot->virt_pos.y -
												   move_pos.y) * (ThisRobot->virt_pos.y -
														  move_pos.y);

		if (dist2 < SQUARED_RANGE_SHOOT_MIN_DIST) {	// Too close -> move away, and start shooting
			move_type = MOVE_AWAY;
			shoot_target = TRUE;
			goto EXECUTE_ATTACK;
		}
		// Check if outside of bullet range
		itemspec *bot_weapon = &ItemMap[Droidmap[ThisRobot->type].weapon_id];
		float shot_range = bot_weapon->weapon_bullet_lifetime * bot_weapon->weapon_bullet_speed;
		float squared_shot_range = shot_range * shot_range;

		if (dist2 >= squared_shot_range) {
			move_type = REACH_MELEE;
			shoot_target = FALSE;
			goto EXECUTE_ATTACK;
		}
		// All tests passed, the bot can shoot.
		shoot_target = TRUE;
		goto EXECUTE_ATTACK;

	}

 EXECUTE_ATTACK:

	// Execute the bot's move
	//
	// We will often have to move towards our target.
	// But this moving around can lead to jittering of droids moving back and 
	// forth between two positions very rapidly.  Therefore we will not do this
	// movement thing every frame, but rather only sometimes
	//

	if (ThisRobot->last_combat_step >= ATTACK_MOVE_RATE) {
		ThisRobot->last_combat_step = 0;

		switch (move_type) {
		case REACH_MELEE:
			ReachMeleeCombat(ThisRobot, &move_pos, new_move_target, pf_ctx);
			break;
		case MOVE_MELEE:
			move_to_melee_combat(ThisRobot, &move_pos, new_move_target);
			break;
		case MOVE_AWAY:
			MoveAwayFromMeleeCombat(ThisRobot, new_move_target);
			break;
		default:
			break;
		}
	} else {
		ThisRobot->last_combat_step += Frame_Time();
	}

	// Execute the bot's shoot

	/* Great suggestion of Sarayan : we do not care about friendly fire, and make bullets go through people of the same side. */
	if (shoot_target && ThisRobot->firewait <= 0)
		raw_start_enemys_shot(ThisRobot, move_pos.x - ThisRobot->virt_pos.x, move_pos.y - ThisRobot->virt_pos.y);

}

static void state_machine_paralyzed(enemy * ThisRobot, pointf * new_move_target)
{
	/* Move target - none */
	new_move_target->x = ThisRobot->pos.x;
	new_move_target->y = ThisRobot->pos.y;

	if (ThisRobot->paralysation_duration_left <= 0)
		ThisRobot->combat_state = SELECT_NEW_WAYPOINT;
}

static void state_machine_returning_home(enemy * ThisRobot, pointf * new_move_target)
{
	/* Bot too far away from home must go back to home waypoint */

	waypoint *wpts = curShip.AllLevels[ThisRobot->pos.z]->waypoints.arr;

	/* Move target */
	new_move_target->x = wpts[ThisRobot->homewaypoint].x + 0.5;
	new_move_target->y = wpts[ThisRobot->homewaypoint].y + 0.5;

	/* Action */
	if (remaining_distance_to_current_walk_target(ThisRobot) < ThisRobot->max_distance_to_home / 2.0) {
		ThisRobot->combat_state = SELECT_NEW_WAYPOINT;
		return;
	}

	ThisRobot->combat_state = RETURNING_HOME;
}

static void state_machine_select_new_waypoint(enemy * ThisRobot, pointf * new_move_target)
{
	/* Move target - none */
	new_move_target->x = ThisRobot->pos.x;
	new_move_target->y = ThisRobot->pos.y;

	/* Bot must select a new waypoint randomly, and turn towards it. No move this step. */
	if (!set_new_random_waypoint(ThisRobot)) {	/* couldn't find a waypoint ? go waypointless  */
		ThisRobot->combat_state = WAYPOINTLESS_WANDERING;
	} else {
		ThisRobot->combat_state = TURN_TOWARDS_NEXT_WAYPOINT;
	}
}

static void state_machine_turn_towards_next_waypoint(enemy * ThisRobot, pointf * new_move_target)
{
	waypoint *wpts = curShip.AllLevels[ThisRobot->pos.z]->waypoints.arr;

	/* Action */
	/* XXX */
	new_move_target->x = ThisRobot->pos.x;
	new_move_target->y = ThisRobot->pos.y;
	ThisRobot->last_phase_change = WAIT_BEFORE_ROTATE + 1.0;

	if (TurnABitTowardsPosition(ThisRobot, wpts[ThisRobot->nextwaypoint].x + 0.5, wpts[ThisRobot->nextwaypoint].y + 0.5, 90)) {
		new_move_target->x = wpts[ThisRobot->nextwaypoint].x + 0.5;
		new_move_target->y = wpts[ThisRobot->nextwaypoint].y + 0.5;
		ThisRobot->combat_state = MOVE_ALONG_RANDOM_WAYPOINTS;
	}
}

static void state_machine_move_along_random_waypoints(enemy * ThisRobot, pointf * new_move_target)
{
	/* The bot moves towards its next waypoint */

	waypoint *wpts = curShip.AllLevels[ThisRobot->pos.z]->waypoints.arr;

	/* Move target */
	new_move_target->x = wpts[ThisRobot->nextwaypoint].x + 0.5;
	new_move_target->y = wpts[ThisRobot->nextwaypoint].y + 0.5;

	/* Action */
	if ((new_move_target->x - ThisRobot->pos.x) * (new_move_target->x - ThisRobot->pos.x) +
	    (new_move_target->y - ThisRobot->pos.y) * (new_move_target->y - ThisRobot->pos.y) < DIST_TO_INTERM_POINT*DIST_TO_INTERM_POINT) {
		ThisRobot->combat_state = SELECT_NEW_WAYPOINT;
		return;
	}

	ThisRobot->combat_state = MOVE_ALONG_RANDOM_WAYPOINTS;
}

static void state_machine_rush_tux_and_open_talk(enemy * ThisRobot, pointf * new_move_target)
{
	/* Move target */
	if (ThisRobot->pos.z == Me.pos.z) {
		new_move_target->x = Me.pos.x;
		new_move_target->y = Me.pos.y;
	} else {
		new_move_target->x = ThisRobot->pos.x;
		new_move_target->y = ThisRobot->pos.y;
	}

	/* Action */
	if (sqrt((ThisRobot->virt_pos.x - Me.pos.x) * (ThisRobot->virt_pos.x - Me.pos.x) + (ThisRobot->virt_pos.y - Me.pos.y) * (ThisRobot->virt_pos.y - Me.pos.y)) < 1) {	//if we are close enough to tux, we talk
		chat_with_droid(ThisRobot);
		ThisRobot->will_rush_tux = FALSE;
		ThisRobot->combat_state = SELECT_NEW_WAYPOINT;
		return;
	}
}

static void state_machine_follow_tux(enemy * ThisRobot, pointf * new_move_target)
{
	if (!ThisRobot->follow_tux || (!can_see_tux(ThisRobot)) ) {
		ThisRobot->combat_state = WAYPOINTLESS_WANDERING;
		new_move_target->x = ThisRobot->pos.x;
		new_move_target->y = ThisRobot->pos.y;
		return;
	}

	/* Move target - The friendly bot will follow Tux, but with a small delay */

	// Compute a FrameRate independent delay
	int delay = 0.5 * 1.0 / Frame_Time();	// Number of frame for a 0.5 seconds
	delay <<= 1;		// InfluPosition is only stored every two frames

	if (GetInfluPositionHistoryZ(delay) == ThisRobot->pos.z) {
		new_move_target->x = GetInfluPositionHistoryX(delay);
		new_move_target->y = GetInfluPositionHistoryY(delay);

		pointf ab = { ThisRobot->pos.x - new_move_target->x, ThisRobot->pos.y - new_move_target->y };
		if (fabsf(ab.x) < 1 && fabsf(ab.y) < 1) {
			new_move_target->x = ThisRobot->pos.x;
			new_move_target->y = ThisRobot->pos.y;
		}
	} else {
		update_virtual_position(&ThisRobot->virt_pos, &ThisRobot->pos, Me.pos.z);
		if (ThisRobot->virt_pos.z != -1) {
			new_move_target->x = ThisRobot->pos.x + Me.pos.x - ThisRobot->virt_pos.x;
			new_move_target->y = ThisRobot->pos.y + Me.pos.y - ThisRobot->virt_pos.y;
		} else {
			ThisRobot->combat_state = WAYPOINTLESS_WANDERING;
			new_move_target->x = ThisRobot->pos.x;
			new_move_target->y = ThisRobot->pos.y;
		}
	}
}

static void state_machine_completely_fixed(enemy * ThisRobot, pointf * new_move_target)
{
	/* Move target */
	new_move_target->x = ThisRobot->pos.x;
	new_move_target->y = ThisRobot->pos.y;

	if (!ThisRobot->CompletelyFixed)
		ThisRobot->combat_state = WAYPOINTLESS_WANDERING;
}

static void state_machine_waypointless_wandering(enemy * ThisRobot, pointf * new_move_target)
{
	if (remaining_distance_to_current_walk_target(ThisRobot) < 0.1) {
		set_new_waypointless_walk_target(ThisRobot, new_move_target);
		TurnABitTowardsPosition(ThisRobot, new_move_target->x, new_move_target->y, 90);
		ThisRobot->combat_state = WAYPOINTLESS_WANDERING;
	}
}

/**
 * 
 * This function runs the finite state automaton that powers the bots.
 * It handles attack and movement behaviors.
 *
 */
void update_enemy(enemy * ThisRobot)
{
	/* New structure :
	 *
	 * Inconditional updates:
	 *    debug stuff (say state on screen)
	 *    unstick from walls if relevant
	 *    certain switches (cleanup to be made here)
	 *    find an attack target (we consider it state independent)
	 *    reset speed to 0 (for now)
	 *
	 * Situational state changes (transitions from any state to a given one in certain input conditions)
	 *    switch to RUSH TUX
	 *    switch to RETURN HOME
	 *
	 * Per-state actions
	 *    for each state:
	 *       compute a new moving target (no path finding there, just tell where to go)
	 *       do actions if appropriate (attack, talk, whatever)
	 *       transition to a state
	 *
	 * Universal actions ("could" be merged with inconditional updates)
	 *    pathfind the new moving target if applicable (it differs from the current moving target)
	 *    move (special case target = cur. position)
	 *
	 */

	/* Inconditional updates */
	state_machine_inconditional_updates(ThisRobot);

	/* Situational state changes */
	state_machine_situational_transitions(ThisRobot);

	pointf new_move_target;
	enemy_get_current_walk_target(ThisRobot, &new_move_target);

	/* Handle per-state switches and actions.
	 * Each state much set move_target and combat_state.
	 */

	// Default pathfinder execution context
	// Can eventually be changed by a state_machine_xxxx function
	freeway_context frw_ctx = { FALSE, {ThisRobot, NULL} };
	pathfinder_context pf_ctx = { &WalkableWithMarginPassFilter, &frw_ctx };

	switch (ThisRobot->combat_state) {
	case STOP_AND_EYE_TARGET:
		state_machine_stop_and_eye_target(ThisRobot, &new_move_target);
		break;

	case ATTACK:
		state_machine_attack(ThisRobot, &new_move_target, &pf_ctx);
		break;

	case PARALYZED:
		state_machine_paralyzed(ThisRobot, &new_move_target);
		break;

	case COMPLETELY_FIXED:
		state_machine_completely_fixed(ThisRobot, &new_move_target);
		break;

	case FOLLOW_TUX:
		state_machine_follow_tux(ThisRobot, &new_move_target);
		break;

	case RETURNING_HOME:
		state_machine_returning_home(ThisRobot, &new_move_target);
		break;

	case SELECT_NEW_WAYPOINT:
		state_machine_select_new_waypoint(ThisRobot, &new_move_target);
		break;

	case TURN_TOWARDS_NEXT_WAYPOINT:
		state_machine_turn_towards_next_waypoint(ThisRobot, &new_move_target);
		break;

	case MOVE_ALONG_RANDOM_WAYPOINTS:
		state_machine_move_along_random_waypoints(ThisRobot, &new_move_target);
		break;

	case RUSH_TUX_AND_OPEN_TALK:
		state_machine_rush_tux_and_open_talk(ThisRobot, &new_move_target);
		break;

	case WAYPOINTLESS_WANDERING:
		state_machine_waypointless_wandering(ThisRobot, &new_move_target);
		break;

	}

	/* Pathfind current target */
	/* I am sorry this is a bit dirty, but I've got time and efficiency constraints. If you're not happy please send a patch. No complaints will 
	 * be accepted.*/

	/* The basic design is the following :
	 * we get the current moving target of the bot (ie. old)
	 * we compare the new and current moving target
	 *    if they differ : we have to set up a new route (pathfind the route)
	 *    if they do not : we move towards our first waypoint
	 *
	 * special case: 
	 *                if first waypoint is -1 -1 we have a bug and do nothing (hack around)
	 */
	pointf wps[40];
	pointf old_move_target;
	enemy_get_current_walk_target(ThisRobot, &old_move_target);

	if ((new_move_target.x == ThisRobot->pos.x) && (new_move_target.y == ThisRobot->pos.y)) {	// If the bot stopped moving, create a void path
		ThisRobot->PrivatePathway[0].x = ThisRobot->pos.x;
		ThisRobot->PrivatePathway[0].y = ThisRobot->pos.y;
		ThisRobot->PrivatePathway[1].x = -1;
		ThisRobot->PrivatePathway[1].y = -1;
	} else if (((new_move_target.x != old_move_target.x) || (new_move_target.y != old_move_target.y))) {	// If the current move target differs from the old one
		// This implies we do not re-pathfind every frame, which means we may bump into colleagues. 
		// This is handled in MoveThisEnemy()
		if (set_up_intermediate_course_between_positions(&ThisRobot->pos, &new_move_target, &wps[0], 40, &pf_ctx) && wps[5].x == -1) {	/* If position was passable *and* streamline course uses max 4 waypoints */
			memcpy(&ThisRobot->PrivatePathway[0], &wps[0], 5 * sizeof(pointf));
		} else {
			ThisRobot->PrivatePathway[0].x = ThisRobot->pos.x;
			ThisRobot->PrivatePathway[0].y = ThisRobot->pos.y;
			ThisRobot->PrivatePathway[1].x = -1;
			ThisRobot->PrivatePathway[1].y = -1;
			if (ThisRobot->pure_wait < WAIT_COLLISION)
				ThisRobot->pure_wait = WAIT_COLLISION;
		}
	}

	if (ThisRobot->PrivatePathway[0].x == -1) {
		/* This happens at the very beginning of the game. If it happens afterwards this is a ugly bug. */
		ThisRobot->PrivatePathway[0].x = ThisRobot->pos.x;
		ThisRobot->PrivatePathway[0].y = ThisRobot->pos.y;
	}

	MoveThisEnemy(ThisRobot);
};				// void update_enemy()

/**
 * This function handles all the logic tied to enemies : animation, movement
 * and attack behavior.
 *
 * Note that no enemy must be killed by the logic function. It's a technical limitation
 * and a requirement in FreedroidRPG.
 */
void move_enemies(void)
{
	heal_robots_over_time();

	enemy *erot, *nerot;
	BROWSE_ALIVE_BOTS_SAFE(erot, nerot) {
		// Ignore robots on levels that can't be seen
		if (!level_is_visible(erot->pos.z))
			continue;

		animate_enemy(erot);

		// Run a new cycle of the bot's state machine
		update_enemy(erot);
	}

	BROWSE_DEAD_BOTS_SAFE(erot, nerot) {
		// Ignore robots on levels that can't be seen
		if (!level_is_visible(erot->pos.z))
			continue;

		animate_enemy(erot);
	}
}

/**
 * When an enemy is firing a shot, the newly created bullet must be 
 * assigned a speed, that would lead the bullet towards the intended
 * target, which is done here.
 */
void set_bullet_speed_to_target_direction(bullet * NewBullet, float bullet_speed, float xdist, float ydist)
{
	// determine the direction of the shot, so that it will go into the direction of
	// the target
	//
	if (fabsf(xdist) > fabsf(ydist)) {
		NewBullet->speed.x = bullet_speed;
		NewBullet->speed.y = ydist * NewBullet->speed.x / xdist;
		if (xdist < 0) {
			NewBullet->speed.x = -NewBullet->speed.x;
			NewBullet->speed.y = -NewBullet->speed.y;
		}
	}

	if (fabsf(xdist) < fabsf(ydist)) {
		NewBullet->speed.y = bullet_speed;
		NewBullet->speed.x = xdist * NewBullet->speed.y / ydist;
		if (ydist < 0) {
			NewBullet->speed.x = -NewBullet->speed.x;
			NewBullet->speed.y = -NewBullet->speed.y;
		}
	}
};				// void set_bullet_speed_to_target_direction ( bullet* NewBullet , float bullet_speed , float xdist , float ydist )

/**
 * This function is low-level:  It simply sets off a shot from enemy
 * through the pointer ThisRobot at the target VECTOR xdist ydist, which
 * is a DISTANCE VECTOR, NOT ABSOLUTE COORDINATES OF THE TARGET!!!
 */
static void raw_start_enemys_shot(struct enemy *this_robot, float xdist, float ydist)
{
	// If the robot is not in walk or stand animation, i.e. if it's in
	// gethit, death or attack animation, then we can't start another
	// shot/attack right now...
	//
	if ((this_robot->animation_type != WALK_ANIMATION) && (this_robot->animation_type != STAND_ANIMATION))
		return;

	/* First of all, check what kind of weapon the bot has : ranged or melee */
	struct itemspec weapon_spec = ItemMap[Droidmap[this_robot->type].weapon_id];

	if (!weapon_spec.weapon_is_melee) {	/* ranged */

		struct bullet new_bullet;

		bullet_init_for_enemy(&new_bullet, weapon_spec.weapon_bullet_type,
		                      Droidmap[this_robot->type].weapon_id, this_robot);

		// We send the bullet onto it's way towards the given target
		float bullet_speed = (float)weapon_spec.weapon_bullet_speed;
		set_bullet_speed_to_target_direction(&new_bullet, bullet_speed, xdist, ydist);

		// Enemies also have to respect the angle modifier in their weapons...
		new_bullet.angle = -(90 + 45 + 180 * atan2(new_bullet.speed.y, new_bullet.speed.x) / M_PI);

		// At this point we mention, that when not moving anywhere, the robot should also
		// face into the direction of the shot
		this_robot->previous_angle = new_bullet.angle + 180;

		// Change bullet starting position so that they don't hit the shooter...
		new_bullet.pos.x += (new_bullet.speed.x) / (bullet_speed) * 0.5;
		new_bullet.pos.y += (new_bullet.speed.y) / (bullet_speed) * 0.5;

		sparse_dynarray_add(&all_bullets, &new_bullet, sizeof(struct bullet));

	} else {		/* melee weapon */

		struct melee_shot new_melee_shot;

		new_melee_shot.attack_target_type = this_robot->attack_target_type;
		new_melee_shot.mine = FALSE;	/* shot comes from a bot not tux */

		if (this_robot->attack_target_type == ATTACK_TARGET_IS_ENEMY) {
			new_melee_shot.bot_target_n = this_robot->bot_target_n;
			new_melee_shot.bot_target_addr = this_robot->bot_target_addr;
		} else {	/* enemy bot attacking tux */
			enemy_set_reference(&new_melee_shot.bot_target_n, &new_melee_shot.bot_target_addr, NULL);
		}

		new_melee_shot.to_hit = Droidmap[this_robot->type].to_hit;
		new_melee_shot.damage = weapon_spec.weapon_base_damage + MyRandom(weapon_spec.weapon_damage_modifier);
		new_melee_shot.owner = this_robot->id;

		sparse_dynarray_add(&all_melee_shots, &new_melee_shot, sizeof(struct melee_shot));
	}

	this_robot->ammo_left--;
	if (this_robot->ammo_left > 0) {
		this_robot->firewait += weapon_spec.weapon_attack_time;
	} else {
		this_robot->ammo_left = weapon_spec.weapon_ammo_clip_size;
		if (this_robot->firewait < weapon_spec.weapon_reloading_time)
			this_robot->firewait = weapon_spec.weapon_reloading_time;
	}

	if (this_robot->firewait < weapon_spec.weapon_attack_time)
		this_robot->firewait = weapon_spec.weapon_attack_time;

	if (Droidmap[this_robot->type].attack_animation_last_image - Droidmap[this_robot->type].attack_animation_first_image > 1) {
		this_robot->animation_phase = ((float)Droidmap[this_robot->type].attack_animation_first_image) + 0.1;
		this_robot->animation_type = ATTACK_ANIMATION;
		this_robot->current_angle = -(-90 + 180 * atan2(ydist, xdist) / M_PI);
	}

	if (!weapon_spec.weapon_is_melee)
		fire_bullet_sound(weapon_spec.weapon_bullet_type, &this_robot->pos);
	else
		play_melee_weapon_missed_sound(&this_robot->pos);
}

/**
 * In some of the movement functions for enemy droids, we consider making
 * a step and move a bit into one direction or the other.  But not all
 * moves are really allowed and feasible.  Therefore we need a function
 * to check if a certain step makes sense or not, which is exactly what
 * this function is supposed to do.
 *
 */
static int ConsideredMoveIsFeasible(Enemy ThisRobot, pointf StepVector)
{
	freeway_context frw_ctx = { TRUE, {ThisRobot, NULL} };

	if ((DirectLineColldet(ThisRobot->pos.x, ThisRobot->pos.y, ThisRobot->pos.x + StepVector.x,
			       ThisRobot->pos.y + StepVector.y,
			       ThisRobot->pos.z, NULL)) &&
	    (way_free_of_droids(ThisRobot->pos.x, ThisRobot->pos.y,
				      ThisRobot->pos.x + StepVector.x, ThisRobot->pos.y + StepVector.y, ThisRobot->pos.z, &frw_ctx))) {
		return TRUE;
	}

	return FALSE;

};				// int ConsideredMoveIsFeasible ( Enemy ThisRobot , pointf StepVector )

/*
 * This function will find a place near target_pos that is free of any bots.
 * 
 * During a melee, several bots will try to shoot a common enemy.
 * We will "distribute" them around the enemy.
 * 
 * The approach is :
 * - compute several positions around the target, by rotating a unit vector
 * - halt as soon as one of those positions is free
 */

static void move_to_melee_combat(struct enemy *this_robot, struct gps *target_pos, struct pointf *set_move_tgt)
{
	freeway_context frw_ctx = { is_friendly(this_robot->faction, FACTION_SELF), {this_robot->bot_target_addr, NULL} };

	// All computations are done in the target's level
	gps bot_vpos;
	update_virtual_position(&bot_vpos, &this_robot->pos, target_pos->z);

	// Compute a unit vector from target to this_robot
	pointf vector_from_target = { bot_vpos.x, bot_vpos.y };	//
	normalize_vect(target_pos->x, target_pos->y, &(vector_from_target.x), &(vector_from_target.y));
	vector_from_target.x -= target_pos->x;
	vector_from_target.y -= target_pos->y;	// vector_from_target holds the coordinates of normalized target -> bot vector

	// Fallback if there are no free positions -> Rush on Tux
	gps final_pos =
	    { target_pos->x + vector_from_target.x * MELEE_MIN_DIST, target_pos->y + vector_from_target.y * MELEE_MIN_DIST, target_pos->z };

	// Rotate the unit vector
	float angles_to_try[8] = { 0, 45, -45, 90, -90, 135, -135, 180 };
	int a;
	for (a = 0; a < 8; ++a) {
		pointf checked_vector = { vector_from_target.x, vector_from_target.y };
		RotateVectorByAngle(&checked_vector, angles_to_try[a]);
		pointf checked_pos =
		    { target_pos->x + checked_vector.x * MELEE_MIN_DIST, target_pos->y + checked_vector.y * MELEE_MIN_DIST };

		// Lower quantization of checked_pos, to limit bot jittering around the target
		checked_pos.x = floorf(checked_pos.x * 10.0) / 10.0;
		checked_pos.y = floorf(checked_pos.y * 10.0) / 10.0;

		if (way_free_of_droids(target_pos->x, target_pos->y, checked_pos.x, checked_pos.y, target_pos->z, &frw_ctx)) {
			// If the checked_pos is free, also check that the target is reachable
			int target_reachable =
			    DirectLineColldet(checked_pos.x, checked_pos.y, target_pos->x, target_pos->y, target_pos->z,
					      &WalkablePassFilter);
			if (target_reachable) {	// The position has been found
				final_pos.x = checked_pos.x;
				final_pos.y = checked_pos.y;
				break;
			}
		}
	}

	// Transform back into ThisRobot's reference level
	update_virtual_position(&bot_vpos, &final_pos, this_robot->pos.z);
	set_move_tgt->x = bot_vpos.x;
	set_move_tgt->y = bot_vpos.y;
}

/**
 *
 */
static void MoveAwayFromMeleeCombat(Enemy ThisRobot, pointf * set_move_tgt)
{
	pointf VictimPosition = { 0.0, 0.0 };
	pointf CurrentPosition = { 0.0, 0.0 };
	pointf StepVector;
	pointf RotatedStepVector;
	float StepVectorLen;
	int i;

#define ANGLES_TO_TRY 7
	float RotationAngleTryList[ANGLES_TO_TRY] = { 0, 30, 360 - 30, 60, 360 - 60, 90, 360 - 90 };

	VictimPosition.x = enemy_get_target_position(ThisRobot)->x;
	VictimPosition.y = enemy_get_target_position(ThisRobot)->y;

	CurrentPosition.x = ThisRobot->virt_pos.x;
	CurrentPosition.y = ThisRobot->virt_pos.y;

	StepVector.x = VictimPosition.x - CurrentPosition.x;
	StepVector.y = VictimPosition.y - CurrentPosition.y;

	// Now some protection against division by zero when two bots
	// have _exactly_ the same position, i.e. are standing on top
	// of each other:
	//
	if ((fabsf(StepVector.x) < 0.01) && (fabsf(StepVector.y) < 0.01)) {
		if (MyRandom(1) == 1) {
			StepVector.x = 1.0;
			StepVector.y = 1.0;
		} else {
			StepVector.x = -1.0;
			StepVector.y = -1.0;
		}
	}

	StepVectorLen = sqrt((StepVector.x) * (StepVector.x) + (StepVector.y) * (StepVector.y));

	StepVector.x /= (-1 * StepVectorLen);
	StepVector.y /= (-1 * StepVectorLen);

	for (i = 0; i < ANGLES_TO_TRY; i++) {
		RotatedStepVector.x = StepVector.x;
		RotatedStepVector.y = StepVector.y;
		RotateVectorByAngle(&RotatedStepVector, RotationAngleTryList[i]);

		// Maybe we've found a solution, then we can take it and quit
		// trying around...
		//
		if ( /*XXX*/ ConsideredMoveIsFeasible(ThisRobot, RotatedStepVector) &&
		    DirectLineColldet(ThisRobot->virt_pos.x + RotatedStepVector.x, ThisRobot->virt_pos.y + RotatedStepVector.y,
				      VictimPosition.x, VictimPosition.y, ThisRobot->pos.z, NULL)
		    ) {
			set_move_tgt->x = ThisRobot->pos.x + RotatedStepVector.x;
			set_move_tgt->y = ThisRobot->pos.y + RotatedStepVector.y;
			break;
		}
		// No solution, don't move
		set_move_tgt->x = ThisRobot->pos.x;
		set_move_tgt->y = ThisRobot->pos.y;

	}
};				// void MoveAwayFromMeleeCombat( Enemy ThisRobot , pointf * set_move_tgt )

/**
 * 
 */
static void ReachMeleeCombat(enemy *ThisRobot, gps *tpos, pointf *new_move_target, pathfinder_context *pf_ctx)
{
	// Target not reachable -> roughly reach the target.
	// The exact destination will be computed later.
	new_move_target->x = tpos->x;
	new_move_target->y = tpos->y;

	// If ThisRobot is a friend, we want him to move as far as possible,
	// so we de-activate the bot-collision test during the pathfinder call.
	// ( see the function's comment about state_machine_attack() )
	//
	// Else, a classical pathfinder context is used. However, the final position
	// is the target position, and so we have to add the target into the bot-collision
	// exception's list.

	if (is_friendly(ThisRobot->faction, FACTION_SELF))
		pf_ctx->frw_ctx = NULL;
	else
		pf_ctx->frw_ctx->except_bots[1] = ThisRobot->bot_target_addr;
}

/**
 * At some points it may be necessary, that an enemy turns around to
 * face the Tux.  This function does that, but only so much as can be
 * done in the current frame, i.e. NON-BLOCKING operation.
 *
 * The return value indicates, if the turning has already reached it's
 * target by now or not.
 */
static int TurnABitTowardsPosition(enemy *ThisRobot, float x, float y, float TurnSpeed)
{
	float RightAngle;
	float AngleInBetween;
	float TurningDirection;

	if (ThisRobot->pos.x == x && ThisRobot->pos.y == y)
		return TRUE;

	// Now we find out what the final target direction of facing should
	// be.
	//
	// For this we use the atan2, which gives angles from -pi to +pi.
	// 
	// Attention must be paid, since 'y' in our coordinates ascends when
	// moving down and descends when moving 'up' on the screen.  So that
	// one sign must be corrected, so that everything is right again.
	//
	RightAngle = (atan2(-(y - ThisRobot->pos.y), +(x - ThisRobot->pos.x)) * 180.0 / M_PI);
	//
	// Another thing there is, that must also be corrected:  '0' begins
	// with facing 'down' in the current rotation models.  Therefore angle
	// 0 corresponds to that.  We need to shift again...
	//
	RightAngle += 90;

	// Now it's time do determine which direction to move, i.e. if to 
	// turn to the left or to turn to the right...  For this purpose
	// we convert the current angle, which is between 270 and -90 degrees
	// to one between -180 and +180 degrees...
	//
	if (RightAngle > 180.0)
		RightAngle -= 360.0;

	// Having done these preparations, it's now easy to determine the right
	// direction of rotation...
	//
	AngleInBetween = RightAngle - ThisRobot->current_angle;
	if (AngleInBetween > 180)
		AngleInBetween -= 360;
	if (AngleInBetween <= -180)
		AngleInBetween += 360;

	if (AngleInBetween > 0)
		TurningDirection = +1;
	else
		TurningDirection = -1;

	// Now we turn and show the image until both chat partners are
	// facing each other, mostly the chat partner is facing the Tux,
	// since the Tux may still turn around to somewhere else all the 
	// while, if the chose so
	//
	ThisRobot->current_angle += TurningDirection * TurnSpeed * Frame_Time();

	// In case of positive turning direction, we wait, till our angle is greater
	// than the right angle.
	// Otherwise we wait till our angle is lower than the right angle.
	//
	AngleInBetween = RightAngle - ThisRobot->current_angle;
	if (AngleInBetween > 180)
		AngleInBetween -= 360;
	if (AngleInBetween <= -180)
		AngleInBetween += 360;

	if ((TurningDirection > 0) && (AngleInBetween < 0))
		return (TRUE);
	if ((TurningDirection < 0) && (AngleInBetween > 0))
		return (TRUE);

	return (FALSE);
}

/**
 * Enemies act as groups.  If one is hit, all will attack and the like.
 * This transmission of information is handled here.
 */
void SetRestOfGroupToState(Enemy ThisRobot, short NewState)
{
	int MarkerCode;

	MarkerCode = ThisRobot->marker;

	if ((MarkerCode == 0) || (MarkerCode == 101))
		return;

	enemy *erot;
	BROWSE_ALIVE_BOTS(erot) {
		if (erot->marker == MarkerCode)
			erot->combat_state = NewState;
	}

};				// void SetRestOfGroupToState ( Enemy ThisRobot , int NewState )

/**
 * This function checks for enemy collisions and returns TRUE if enemy 
 * with number enemynum collided with another enemy from the list.
 */
int CheckEnemyEnemyCollision(enemy * OurBot)
{
	float check_x, check_y;
	int swap;
	float xdist, ydist;
	float dist2;
	check_x = OurBot->pos.x;
	check_y = OurBot->pos.y;

	if (OurBot->pure_wait)
		return FALSE;

	// Now we check through all the other enemys on this level if 
	// there is perhaps a collision with them...

	enemy *erot;
	BROWSE_LEVEL_BOTS(erot, OurBot->pos.z) {
		if (erot == OurBot)
			continue;

		xdist = check_x - erot->pos.x;
		ydist = check_y - erot->pos.y;

		dist2 = sqrt(xdist * xdist + ydist * ydist);

		// Is there a Collision?
		if (dist2 <= 2 * DROIDRADIUSXY) {
			if (erot->pure_wait)
				continue;

			erot->pure_wait = WAIT_COLLISION;

			swap = OurBot->nextwaypoint;
			OurBot->nextwaypoint = OurBot->lastwaypoint;
			OurBot->lastwaypoint = swap;

			return TRUE;
		}		// if collision distance reached

	}			// for all the bots...

	return FALSE;
};				// int CheckEnemyEnemyCollision

/**
 * This function increases the phase counters for the animation of a bot.
 */
void animate_enemy(enemy *our_enemy)
{
	struct droidspec *droid_spec = &Droidmap[our_enemy->type];

	switch (our_enemy->animation_type) {

	case WALK_ANIMATION:
		our_enemy->animation_phase += Frame_Time() * droid_spec->walk_animation_speed_factor;

		// While we're in the walk animation cycle, we have the walk animation
		// images cycle.
		//
		if (our_enemy->animation_phase >= droid_spec->walk_animation_last_image) {
			our_enemy->animation_phase = 0;
			our_enemy->animation_type = WALK_ANIMATION;
		}
		// But as soon as the walk stops and the 'bot' is standing still, we switch
		// to the standing cycle...
		//
		if ((fabs(our_enemy->speed.x) < 0.1) && (fabs(our_enemy->speed.y) < 0.1)) {
			our_enemy->animation_phase = droid_spec->stand_animation_first_image - 1;
			our_enemy->animation_type = STAND_ANIMATION;
		}
		break;
	case ATTACK_ANIMATION:
		our_enemy->animation_phase += Frame_Time() * droid_spec->attack_animation_speed_factor;

		if (our_enemy->animation_phase >= droid_spec->attack_animation_last_image) {
			our_enemy->animation_phase = 0;
			our_enemy->animation_type = WALK_ANIMATION;
		}
		break;
	case GETHIT_ANIMATION:
		our_enemy->animation_phase += Frame_Time() * droid_spec->gethit_animation_speed_factor;

		if (our_enemy->animation_phase >= droid_spec->gethit_animation_last_image) {
			our_enemy->animation_phase = 0;
			our_enemy->animation_type = WALK_ANIMATION;
		}
		break;
	case DEATH_ANIMATION:
		our_enemy->animation_phase += Frame_Time() * droid_spec->death_animation_speed_factor;

		if (our_enemy->animation_phase >= droid_spec->death_animation_last_image - 1) {
			our_enemy->animation_phase = droid_spec->death_animation_last_image - 1;
			our_enemy->animation_type = DEAD_ANIMATION;
		}
		break;
	case DEAD_ANIMATION:
		our_enemy->animation_phase = droid_spec->death_animation_last_image - 1;
		break;
	case STAND_ANIMATION:
		our_enemy->animation_phase += Frame_Time() * droid_spec->stand_animation_speed_factor;

		if (our_enemy->animation_phase >= droid_spec->stand_animation_last_image - 1) {
			our_enemy->animation_phase = droid_spec->stand_animation_first_image - 1;
			our_enemy->animation_type = STAND_ANIMATION;
		}
		break;
	default:
		fprintf(stderr, "\nThe animation type found is: %d.", our_enemy->animation_type);
		error_message(__FUNCTION__, "\
		    There was an animation type encountered that isn't defined in FreedroidRPG.\n\
		    That means:  Something is going *terribly* wrong!", PLEASE_INFORM | IS_FATAL);
		break;
	}
}

/******************************************************
 * Resolve the address of an enemy, given its number (primary key) and 
 * the cache value of its address. 
 * 1- number == -1 means no enemy targeted, means we return NULL
 * 2- if the cache value is not NULL, we return it
 * 3- if the cache value is NULL, resolve the address by browsing the list and set the cache value
 *********************************************************/
enemy *enemy_resolve_address(short int enemy_number, enemy ** enemy_addr)
{
	if (enemy_number == -1) {
		*enemy_addr = NULL;
		return NULL;
	}

	if (!(*enemy_addr)) {
		int i;
		for (i = 0; i < 2; i++) {
			enemy *erot;
			list_for_each_entry(erot, i ? &dead_bots_head : &alive_bots_head, global_list)
			    if (enemy_number == erot->id) {
				*enemy_addr = erot;
				return *enemy_addr;
			}
		}
		return NULL;
	}
	return *enemy_addr;
}

/********************************************
 * Sets a reference to an enemy to the given address
 * (we could use the number too)
 * This sets both the cache value and the number.
 ********************************/
void enemy_set_reference(short int *enemy_number, enemy ** enemy_addr, enemy * addr)
{
	if (addr == NULL) {
		*enemy_addr = NULL;
		*enemy_number = -1;
	} else {
		*enemy_addr = addr;
		*enemy_number = addr->id;
	}
}

/**
 * This function converts a sensor string human-readable to a sensor ID, computer-readable
 */
int get_sensor_id_by_name(const char *sensor_name)
{
	int i = 0;
	for (i = 0; i < sizeof(enemy_sensors)/sizeof(enemy_sensors[0]); i++) {
		if (!strcmp(sensor_name, enemy_sensors[i].name))
			return enemy_sensors[i].flag_set;
	}

	error_message(__FUNCTION__,
	              "FreedroidRPG was requested to process sensor \"%s\".\n"
	              "But there is no such sensor! We are now setting the sensor to \"spectral\" (without any feature).",
	              PLEASE_INFORM, sensor_name);
	return SENSOR_FEATURELESS;
}

 /**
  * This function is the get_sensor_id_by_name but in reverse
  */
const char *get_sensor_name_by_id(int sensor_flags)
{
	int i = 0;
	for (i = 0; i < sizeof(enemy_sensors)/sizeof(enemy_sensors[0]); i++) {
		if (sensor_flags == enemy_sensors[i].flag_set)
			return enemy_sensors[i].name;
	}

	error_message(__FUNCTION__,
	              "FreedroidRPG was requested to process sensor with ID \"%d\".\n"
	              "But there is no name for that sensor! We are now setting the sensor to \"spectral\" (without any feature).",
	              PLEASE_INFORM, sensor_flags);
	return "spectral";
}

 /* This helper function checks if a robot can see tux even when invisible. */
int can_see_tux(enemy *ThisRobot) {

	return ((Me.invisible_duration <= 0) || (ThisRobot->sensor_id & SENSOR_DETECT_INVISIBLE));
	
}


/**
 * This function checks if the enemy at 'target_pos' is a potential target for
 * 'this_robot'.
 * To be a potential target, the enemy has :
 * 1) to be closer to this_robot than the current best target (defined by its
 *    distance 'squared_best_dist')
 * 2) to be visible
 * 3) to be reachable (definition depends on the robot's weapon)
 * 
 * If the enemy is a potential target, 'squared_best_dist' is changed, and
 * the function returns TRUE.
 * 
 * Note: All operations are executed in this_robot's level
 * 
 */
static int is_potential_target(enemy * this_robot, gps * target_pos, float *squared_best_dist)
{
	// Get target's virtual position in term of this_robot's level
	gps target_vpos;
	update_virtual_position(&target_vpos, target_pos, this_robot->pos.z);

	// Potentially closer than current best dist ?
	// We use the direct line distance as the distance to the target.
	// The reason is : if two potential targets are seen through a window,
	// we will attack the one that is visually the closest one (the bots are
	// not omniscient and do not know the real length of the path to their targets)
	float xdist = target_vpos.x - this_robot->pos.x;
	float ydist = target_vpos.y - this_robot->pos.y;
	float squared_target_dist = (xdist * xdist + ydist * ydist);

	if (squared_target_dist > *squared_best_dist) {
		return FALSE;
	}
	// If the target is not visible, then it cannot be attacked...
	// Unless if the droid's sensor can see through walls!
	if (!(this_robot->sensor_id & SENSOR_THROUGH_WALLS)) {
		// Only apply this rule if the bot don't have a compatible sensor.
		if (!DirectLineColldet(this_robot->pos.x, this_robot->pos.y, target_vpos.x, target_vpos.y, this_robot->pos.z, &VisiblePassFilter)) {
			return FALSE;
		}
	}
	// For a range weapon, check if the target can be directly shot
	int melee_weapon = ItemMap[Droidmap[this_robot->type].weapon_id].weapon_is_melee;

	if (!melee_weapon) {
		if (DirectLineColldet(this_robot->pos.x, this_robot->pos.y,
				      target_vpos.x, target_vpos.y, this_robot->pos.z, &FlyablePassFilter)) {
			*squared_best_dist = squared_target_dist;
			return TRUE;
		}
	}
	// Else (if melee_weapon or not shootable for a range_weapon), checks if a path exists to reach the target
	pointf mid_pos[40];
	pointf to_pos = { target_vpos.x, target_vpos.y };
	pathfinder_context pf_ctx = { &WalkableWithMarginPassFilter, NULL };
	int path_found = set_up_intermediate_course_between_positions(&(this_robot->pos), &to_pos, mid_pos, 40, &pf_ctx)
	    && (mid_pos[5].x == -1);
	if (!path_found)
		return FALSE;

	*squared_best_dist = squared_target_dist;
	return TRUE;

}				// is_potential_target( enemy* this_robot, gps* target_pos, float* squared_best_dist )

/**
 * Return the numerical droid type corresponding to a given type name.
 */
int get_droid_type(const char *type_name)
{
	int i;

	for (i = 0; i < Number_Of_Droid_Types; i++) {
		if (!strcmp(Droidmap[i].droidname, type_name))
			return i;
	}

	error_message(__FUNCTION__, "Droid type \"%s\" does not exist.", PLEASE_INFORM, type_name);

	return 0;
}

enemy *get_enemy_with_dialog(const char *dialog)
{
	enemy *en;

	BROWSE_ALIVE_BOTS(en) {
		if (!strcmp(en->dialog_section_name, dialog)) {
			return en;
		}
	}

	BROWSE_DEAD_BOTS(en) {
		if (!strcmp(en->dialog_section_name, dialog)) {
			return en;
		}
	}

	return NULL;
}
#undef _enemy_c
