Fix ground-seeking AirLift

changelog.md

@@ -51,6 +51,7 @@
 * **[Capture Logic]** Release all parking slots when an airbase is captured
 * **[Modding]** Swedish Military Assets Pack air defence presets are now correctly removed from the faction when the mod is disabled.
 * **[Mission Generation]** Naval aircraft not always returning to carrier
+* **[Mission Generation]** AI AirLift aircraft crashing into terrain due to insufficient waypoints
 
 # Retribution v1.2.1 (hotfix)
 

game/ato/flightplans/airlift.py

@@ -1,5 +1,6 @@
 from __future__ import annotations
 
+import random
 from collections.abc import Iterator
 from dataclasses import dataclass
 from datetime import datetime
@@ -7,7 +8,7 @@ from typing import Optional
 from typing import TYPE_CHECKING, Type
 
 from game.theater.missiontarget import MissionTarget
-from game.utils import feet
+from game.utils import feet, Distance
 from ._common_ctld import generate_random_ctld_point
 from .ibuilder import IBuilder
 from .planningerror import PlanningError
@@ -23,13 +24,17 @@ if TYPE_CHECKING:
 
 @dataclass
 class AirliftLayout(StandardLayout):
+    pickup_ascent: FlightWaypoint | None
+    pickup_descent: FlightWaypoint | None
     # There will not be a pickup waypoint when the pickup airfield is the departure
     # airfield for cargo planes, as the cargo is pre-loaded. Helicopters will still pick
     # up the cargo near the airfield.
     pickup: FlightWaypoint | None
     # pickup_zone will be used for player flights to create the CTLD stuff
     ctld_pickup_zone: FlightWaypoint | None
+    drop_off_ascent: FlightWaypoint | None
     nav_to_drop_off: list[FlightWaypoint]
+    drop_off_descent: FlightWaypoint | None
     # There will not be a drop-off waypoint when the drop-off airfield and the arrival
     # airfield is the same for a cargo plane, as planes will land to unload and we don't
     # want a double landing. Helicopters will still drop their cargo near the airfield
@@ -37,6 +42,8 @@ class AirliftLayout(StandardLayout):
     drop_off: FlightWaypoint | None
     # drop_off_zone will be used for player flights to create the CTLD stuff
     ctld_drop_off_zone: FlightWaypoint | None
+    return_ascent: FlightWaypoint | None
+    return_descent: FlightWaypoint | None
 
     def add_waypoint(
         self, wpt: FlightWaypoint, next_wpt: Optional[FlightWaypoint]
@@ -60,17 +67,29 @@ class AirliftLayout(StandardLayout):
 
     def iter_waypoints(self) -> Iterator[FlightWaypoint]:
         yield self.departure
+        if self.pickup_ascent is not None:
+            yield self.pickup_ascent
         yield from self.nav_to
+        if self.pickup_descent is not None:
+            yield self.pickup_descent
         if self.pickup is not None:
             yield self.pickup
         if self.ctld_pickup_zone is not None:
             yield self.ctld_pickup_zone
+        if self.drop_off_ascent is not None:
+            yield self.drop_off_ascent
         yield from self.nav_to_drop_off
+        if self.drop_off_descent is not None:
+            yield self.drop_off_descent
         if self.drop_off is not None:
             yield self.drop_off
+        if self.return_ascent is not None:
+            yield self.return_ascent
         if self.ctld_drop_off_zone is not None:
             yield self.ctld_drop_off_zone
         yield from self.nav_from
+        if self.return_descent is not None:
+            yield self.return_descent
         yield self.arrival
         if self.divert is not None:
             yield self.divert
@@ -121,15 +140,47 @@ class Builder(IBuilder[AirliftFlightPlan, AirliftLayout]):
 
         builder = WaypointBuilder(self.flight)
 
+        pickup_ascent = None
+        pickup_descent = None
         pickup = None
+        drop_off_ascent = None
+        drop_off_descent = None
         drop_off = None
         pickup_zone = None
         drop_off_zone = None
 
         if cargo.origin != self.flight.departure:
             pickup = builder.cargo_stop(cargo.origin)
+            pickup_ascent = self._create_ascent_or_descent(
+                builder,
+                self.flight.departure.position,
+                cargo.origin.position,
+                altitude,
+                altitude_is_agl,
+            )
+            pickup_descent = self._create_ascent_or_descent(
+                builder,
+                cargo.origin.position,
+                self.flight.departure.position,
+                altitude,
+                altitude_is_agl,
+            )
         if cargo.next_stop != self.flight.arrival:
             drop_off = builder.cargo_stop(cargo.next_stop)
+            drop_off_ascent = self._create_ascent_or_descent(
+                builder,
+                cargo.origin.position,
+                cargo.next_stop.position,
+                altitude,
+                altitude_is_agl,
+            )
+            drop_off_descent = self._create_ascent_or_descent(
+                builder,
+                cargo.next_stop.position,
+                cargo.origin.position,
+                altitude,
+                altitude_is_agl,
+            )
 
         if self.flight.is_helo:
             # Create CTLD Zones for Helo flights
@@ -150,25 +201,50 @@ class Builder(IBuilder[AirliftFlightPlan, AirliftLayout]):
             altitude_is_agl,
         )
 
+        return_ascent = self._create_ascent_or_descent(
+            builder,
+            cargo.next_stop.position
+            if cargo.next_stop != self.flight.arrival
+            else cargo.origin.position,
+            self.flight.arrival.position,
+            altitude,
+            altitude_is_agl,
+        )
+        return_descent = self._create_ascent_or_descent(
+            builder,
+            self.flight.arrival.position,
+            cargo.next_stop.position
+            if cargo.next_stop != self.flight.arrival
+            else cargo.origin.position,
+            altitude,
+            altitude_is_agl,
+        )
+
         return AirliftLayout(
             departure=builder.takeoff(self.flight.departure),
+            pickup_ascent=pickup_ascent,
             nav_to=nav_to_pickup,
+            pickup_descent=pickup_descent,
             pickup=pickup,
             ctld_pickup_zone=pickup_zone,
+            drop_off_ascent=drop_off_ascent,
             nav_to_drop_off=builder.nav_path(
                 cargo.origin.position,
                 cargo.next_stop.position,
                 altitude,
                 altitude_is_agl,
             ),
+            drop_off_descent=drop_off_descent,
             drop_off=drop_off,
             ctld_drop_off_zone=drop_off_zone,
+            return_ascent=return_ascent,
             nav_from=builder.nav_path(
                 cargo.origin.position,
                 self.flight.arrival.position,
                 altitude,
                 altitude_is_agl,
             ),
+            return_descent=return_descent,
             arrival=builder.land(self.flight.arrival),
             divert=builder.divert(self.flight.divert),
             bullseye=builder.bullseye(),
@@ -188,3 +264,18 @@ class Builder(IBuilder[AirliftFlightPlan, AirliftLayout]):
         if cargo and cargo.transport and isinstance(cargo.transport.destination, CTLD):
             return generate_random_ctld_point(cargo.transport.destination)
         raise RuntimeError("Could not generate CTLD dropoff")
+
+    @staticmethod
+    def _create_ascent_or_descent(
+        builder: WaypointBuilder,
+        start: Point,
+        end: Point,
+        alt: Distance,
+        agl: bool,
+    ) -> FlightWaypoint:
+        distance = start.distance_to_point(end)
+        rdistance = 1000 if agl else min(distance / 10, 20000)
+        heading = round(start.heading_between_point(end))
+        rheading = random.randint(heading - 30, heading + 30) % 360
+        pos = start.point_from_heading(float(rheading), rdistance)
+        return builder.nav(pos, alt, agl)

game/ato/flightplans/waypointbuilder.py

@@ -15,7 +15,6 @@ from typing import (
 
 from dcs.mapping import Point, Vector2
 
-from game.ato.flightplans._common_ctld import generate_random_ctld_point
 from game.ato.flightwaypoint import AltitudeReference, FlightWaypoint
 from game.ato.flightwaypointtype import FlightWaypointType
 from game.theater import (
@@ -25,7 +24,6 @@ from game.theater import (
     TheaterGroundObject,
     TheaterUnit,
 )
-from game.theater.interfaces.CTLD import CTLD
 from game.utils import Distance, meters, nautical_miles, feet
 
 if TYPE_CHECKING:
@@ -635,14 +633,10 @@ class WaypointBuilder:
         """Creates a cargo stop waypoint.
         This waypoint is used by AirLift as a landing and stopover waypoint
         """
-        if isinstance(control_point, CTLD) and control_point.ctld_zones:
-            pos = generate_random_ctld_point(control_point)
-        else:
-            pos = control_point.position
         return FlightWaypoint(
             "CARGOSTOP",
             FlightWaypointType.CARGO_STOP,
-            pos,
+            control_point.position,
             meters(0),
             "RADIO",
             description=f"Stop for cargo at {control_point.name}",