597 lines
14 KiB
C++
597 lines
14 KiB
C++
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// tasktake.cpp
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#define STRICT
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#define D3D_OVERLOADS
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#include <windows.h>
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#include <stdio.h>
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#include <d3d.h>
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#include "struct.h"
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#include "D3DEngine.h"
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#include "D3DMath.h"
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#include "math3d.h"
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#include "event.h"
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#include "misc.h"
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#include "iman.h"
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#include "terrain.h"
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#include "object.h"
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#include "physics.h"
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#include "brain.h"
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#include "water.h"
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#include "camera.h"
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#include "motion.h"
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#include "motionhuman.h"
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#include "sound.h"
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#include "robotmain.h"
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#include "task.h"
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#include "tasktake.h"
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// Constructeur de l'objet.
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CTaskTake::CTaskTake(CInstanceManager* iMan, CObject* object)
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: CTask(iMan, object)
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{
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CTask::CTask(iMan, object);
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m_terrain = (CTerrain*)m_iMan->SearchInstance(CLASS_TERRAIN);
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m_arm = TTA_NEUTRAL;
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}
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// Destructeur de l'objet.
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CTaskTake::~CTaskTake()
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{
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}
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// Gestion d'un <20>v<EFBFBD>nement.
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BOOL CTaskTake::EventProcess(const Event &event)
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{
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float a, g, cirSpeed;
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if ( m_engine->RetPause() ) return TRUE;
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if ( event.event != EVENT_FRAME ) return TRUE;
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if ( m_bError ) return FALSE;
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if ( m_bTurn ) // rotation pr<70>liminaire ?
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{
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a = m_object->RetAngleY(0);
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g = m_angle;
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cirSpeed = Direction(a, g)*2.0f;
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if ( cirSpeed > 1.0f ) cirSpeed = 1.0f;
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if ( cirSpeed < -1.0f ) cirSpeed = -1.0f;
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m_physics->SetMotorSpeedZ(cirSpeed); // tourne <20> gauche/droite
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return TRUE;
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}
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m_progress += event.rTime*m_speed; // <20>a avance
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m_physics->SetMotorSpeed(D3DVECTOR(0.0f, 0.0f, 0.0f)); // immobile !
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return TRUE;
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}
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// Assigne le but <20> atteindre.
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Error CTaskTake::Start()
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{
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ObjectType type;
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CObject* other;
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float iAngle, oAngle, h;
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D3DVECTOR pos;
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m_height = 0.0f;
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m_step = 0;
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m_progress = 0.0f;
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iAngle = m_object->RetAngleY(0);
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iAngle = NormAngle(iAngle); // 0..2*PI
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oAngle = iAngle;
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m_bError = TRUE; // op<6F>ration impossible
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if ( !m_physics->RetLand() )
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{
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pos = m_object->RetPosition(0);
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h = m_water->RetLevel(m_object);
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if ( pos.y < h ) return ERR_MANIP_WATER; // impossible sous l'eau
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return ERR_MANIP_FLY;
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}
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type = m_object->RetType();
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if ( type != OBJECT_HUMAN &&
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type != OBJECT_TECH ) return ERR_MANIP_VEH;
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m_physics->SetMotorSpeed(D3DVECTOR(0.0f, 0.0f, 0.0f));
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if ( m_object->RetFret() == 0 )
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{
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m_order = TTO_TAKE;
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}
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else
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{
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m_order = TTO_DEPOSE;
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}
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if ( m_order == TTO_TAKE )
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{
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pos = m_object->RetPosition(0);
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h = m_water->RetLevel(m_object);
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if ( pos.y < h ) return ERR_MANIP_WATER; // impossible sous l'eau
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other = SearchFriendObject(oAngle, 1.5f, PI*0.50f);
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if ( other != 0 && other->RetPower() != 0 )
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{
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type = other->RetPower()->RetType();
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if ( type == OBJECT_URANIUM ) return ERR_MANIP_RADIO;
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if ( type != OBJECT_FRET &&
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type != OBJECT_STONE &&
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type != OBJECT_BULLET &&
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type != OBJECT_METAL &&
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type != OBJECT_POWER &&
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type != OBJECT_ATOMIC &&
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type != OBJECT_BBOX &&
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type != OBJECT_KEYa &&
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type != OBJECT_KEYb &&
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type != OBJECT_KEYc &&
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type != OBJECT_KEYd &&
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type != OBJECT_TNT ) return ERR_MANIP_FRIEND;
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//? m_camera->StartCentering(m_object, PI*0.3f, -PI*0.1f, 0.0f, 0.8f);
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m_arm = TTA_FRIEND;
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}
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else
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{
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other = SearchTakeObject(oAngle, 1.5f, PI*0.45f);
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if ( other == 0 ) return ERR_MANIP_NIL;
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type = other->RetType();
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if ( type == OBJECT_URANIUM ) return ERR_MANIP_RADIO;
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//? m_camera->StartCentering(m_object, PI*0.3f, 99.9f, 0.0f, 0.8f);
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m_arm = TTA_FFRONT;
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m_main->HideDropZone(other); // cache zone constructible
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}
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}
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if ( m_order == TTO_DEPOSE )
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{
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//? speed = m_physics->RetMotorSpeed();
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//? if ( speed.x != 0.0f ||
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//? speed.z != 0.0f ) return ERR_MANIP_MOTOR;
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other = SearchFriendObject(oAngle, 1.5f, PI*0.50f);
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if ( other != 0 && other->RetPower() == 0 )
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{
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//? m_camera->StartCentering(m_object, PI*0.3f, -PI*0.1f, 0.0f, 0.8f);
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m_arm = TTA_FRIEND;
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}
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else
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{
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if ( !IsFreeDeposeObject(D3DVECTOR(2.5f, 0.0f, 0.0f)) ) return ERR_MANIP_OCC;
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//? m_camera->StartCentering(m_object, PI*0.3f, 99.9f, 0.0f, 0.8f);
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m_arm = TTA_FFRONT;
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}
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}
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m_bTurn = TRUE; // rotation pr<70>liminaire n<>cessaire
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m_angle = oAngle; // angle <20> atteindre
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m_physics->SetFreeze(TRUE); // on ne bouge plus
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m_bError = FALSE; // ok
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return ERR_OK;
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}
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// Indique si l'action est termin<69>e.
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Error CTaskTake::IsEnded()
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{
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CObject* fret;
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float angle;
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if ( m_engine->RetPause() ) return ERR_CONTINUE;
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if ( m_bError ) return ERR_STOP;
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if ( m_bTurn ) // rotation pr<70>liminaire ?
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{
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angle = m_object->RetAngleY(0);
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angle = NormAngle(angle); // 0..2*PI
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if ( TestAngle(angle, m_angle-PI*0.01f, m_angle+PI*0.01f) )
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{
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m_bTurn = FALSE; // rotation termin<69>e
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m_physics->SetMotorSpeedZ(0.0f);
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if ( m_arm == TTA_FFRONT )
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{
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m_motion->SetAction(MHS_TAKE, 0.2f); // se baisse
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}
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if ( m_arm == TTA_FRIEND )
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{
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if ( m_height <= 3.0f )
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{
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m_motion->SetAction(MHS_TAKEOTHER, 0.2f); // se baisse
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}
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else
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{
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m_motion->SetAction(MHS_TAKEHIGH, 0.2f); // se baisse
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}
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}
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m_progress = 0.0f;
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m_speed = 1.0f/0.6f;
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}
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return ERR_CONTINUE;
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}
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if ( m_progress < 1.0f ) return ERR_CONTINUE;
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m_progress = 0.0f;
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m_step ++;
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if ( m_order == TTO_TAKE )
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{
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if ( m_step == 1 )
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{
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if ( TruckTakeObject() )
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{
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if ( m_arm == TTA_FRIEND &&
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(m_fretType == OBJECT_POWER ||
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m_fretType == OBJECT_ATOMIC ) )
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{
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m_sound->Play(SOUND_POWEROFF, m_object->RetPosition(0));
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}
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}
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m_motion->SetAction(MHS_UPRIGHT, 0.4f); // se rel<65>ve
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m_progress = 0.0f;
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m_speed = 1.0f/0.8f;
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m_camera->StopCentering(m_object, 0.8f);
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return ERR_CONTINUE;
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}
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}
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if ( m_order == TTO_DEPOSE )
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{
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if ( m_step == 1 )
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{
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fret = m_object->RetFret();
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TruckDeposeObject();
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if ( m_arm == TTA_FRIEND &&
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(m_fretType == OBJECT_POWER ||
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m_fretType == OBJECT_ATOMIC ) )
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{
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m_sound->Play(SOUND_POWERON, m_object->RetPosition(0));
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}
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if ( fret != 0 && m_fretType == OBJECT_METAL && m_arm == TTA_FFRONT )
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{
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m_main->ShowDropZone(fret, m_object); // montre zone constructible
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}
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m_motion->SetAction(-1); // se rel<65>ve
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m_progress = 0.0f;
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m_speed = 1.0f/0.4f;
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m_camera->StopCentering(m_object, 0.8f);
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return ERR_CONTINUE;
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}
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}
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Abort();
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return ERR_STOP;
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}
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// Termine brutalement l'action en cours.
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BOOL CTaskTake::Abort()
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{
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m_motion->SetAction(-1);
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m_camera->StopCentering(m_object, 0.8f);
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m_physics->SetFreeze(FALSE); // on bouge de nouveau
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return TRUE;
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}
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// Cherche l'objet <20> prendre devant.
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CObject* CTaskTake::SearchTakeObject(float &angle,
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float dLimit, float aLimit)
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{
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CObject *pObj, *pBest;
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D3DVECTOR iPos, oPos;
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ObjectType type;
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float min, iAngle, bAngle, a, distance;
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int i;
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iPos = m_object->RetPosition(0);
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iAngle = m_object->RetAngleY(0);
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iAngle = NormAngle(iAngle); // 0..2*PI
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min = 1000000.0f;
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pBest = 0;
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bAngle = 0.0f;
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for ( i=0 ; i<1000000 ; i++ )
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{
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pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
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if ( pObj == 0 ) break;
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type = pObj->RetType();
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if ( type != OBJECT_FRET &&
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type != OBJECT_STONE &&
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type != OBJECT_URANIUM &&
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type != OBJECT_BULLET &&
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type != OBJECT_METAL &&
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type != OBJECT_POWER &&
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type != OBJECT_ATOMIC &&
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type != OBJECT_BBOX &&
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type != OBJECT_KEYa &&
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type != OBJECT_KEYb &&
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type != OBJECT_KEYc &&
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type != OBJECT_KEYd &&
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type != OBJECT_TNT ) continue;
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if ( pObj->RetTruck() != 0 ) continue; // objet transport<72> ?
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if ( pObj->RetLock() ) continue;
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if ( pObj->RetZoomY(0) != 1.0f ) continue;
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oPos = pObj->RetPosition(0);
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distance = Length(oPos, iPos);
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if ( distance >= 4.0f-dLimit &&
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distance <= 4.0f+dLimit )
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{
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angle = RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
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if ( TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )
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{
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a = Abs(angle-iAngle);
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if ( a > PI ) a = PI*2.0f-a;
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if ( a < min )
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{
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min = a;
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pBest = pObj;
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bAngle = angle;
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}
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}
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}
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}
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angle = bAngle;
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return pBest;
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}
|
|||
|
|
|
|||
|
|
// Cherche le robot sur lequel on veut prendre ou poser une pile.
|
|||
|
|
|
|||
|
|
CObject* CTaskTake::SearchFriendObject(float &angle,
|
|||
|
|
float dLimit, float aLimit)
|
|||
|
|
{
|
|||
|
|
Character* character;
|
|||
|
|
CObject* pObj;
|
|||
|
|
CObject* pPower;
|
|||
|
|
D3DMATRIX* mat;
|
|||
|
|
D3DVECTOR iPos, oPos;
|
|||
|
|
ObjectType type, powerType;
|
|||
|
|
float iAngle, iRad, distance;
|
|||
|
|
int i;
|
|||
|
|
|
|||
|
|
if ( !m_object->GetCrashSphere(0, iPos, iRad) ) return 0;
|
|||
|
|
iAngle = m_object->RetAngleY(0);
|
|||
|
|
iAngle = NormAngle(iAngle); // 0..2*PI
|
|||
|
|
|
|||
|
|
for ( i=0 ; i<1000000 ; i++ )
|
|||
|
|
{
|
|||
|
|
pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
|
|||
|
|
if ( pObj == 0 ) break;
|
|||
|
|
|
|||
|
|
if ( pObj == m_object ) continue; // soi-m<>me ?
|
|||
|
|
|
|||
|
|
type = pObj->RetType();
|
|||
|
|
if ( type != OBJECT_MOBILEfa &&
|
|||
|
|
type != OBJECT_MOBILEta &&
|
|||
|
|
type != OBJECT_MOBILEwa &&
|
|||
|
|
type != OBJECT_MOBILEia &&
|
|||
|
|
type != OBJECT_MOBILEfc &&
|
|||
|
|
type != OBJECT_MOBILEtc &&
|
|||
|
|
type != OBJECT_MOBILEwc &&
|
|||
|
|
type != OBJECT_MOBILEic &&
|
|||
|
|
type != OBJECT_MOBILEfi &&
|
|||
|
|
type != OBJECT_MOBILEti &&
|
|||
|
|
type != OBJECT_MOBILEwi &&
|
|||
|
|
type != OBJECT_MOBILEii &&
|
|||
|
|
type != OBJECT_MOBILEfs &&
|
|||
|
|
type != OBJECT_MOBILEts &&
|
|||
|
|
type != OBJECT_MOBILEws &&
|
|||
|
|
type != OBJECT_MOBILEis &&
|
|||
|
|
type != OBJECT_MOBILErt &&
|
|||
|
|
type != OBJECT_MOBILErc &&
|
|||
|
|
type != OBJECT_MOBILErr &&
|
|||
|
|
type != OBJECT_MOBILErs &&
|
|||
|
|
type != OBJECT_MOBILEsa &&
|
|||
|
|
type != OBJECT_MOBILEtg &&
|
|||
|
|
type != OBJECT_MOBILEft &&
|
|||
|
|
type != OBJECT_MOBILEtt &&
|
|||
|
|
type != OBJECT_MOBILEwt &&
|
|||
|
|
type != OBJECT_MOBILEit &&
|
|||
|
|
type != OBJECT_TOWER &&
|
|||
|
|
type != OBJECT_RESEARCH &&
|
|||
|
|
type != OBJECT_ENERGY &&
|
|||
|
|
type != OBJECT_LABO &&
|
|||
|
|
type != OBJECT_NUCLEAR ) continue;
|
|||
|
|
|
|||
|
|
pPower = pObj->RetPower();
|
|||
|
|
if ( pPower != 0 )
|
|||
|
|
{
|
|||
|
|
if ( pPower->RetLock() ) continue;
|
|||
|
|
if ( pPower->RetZoomY(0) != 1.0f ) continue;
|
|||
|
|
|
|||
|
|
powerType = pPower->RetType();
|
|||
|
|
if ( powerType == OBJECT_NULL ||
|
|||
|
|
powerType == OBJECT_FIX ) continue;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
mat = pObj->RetWorldMatrix(0);
|
|||
|
|
character = pObj->RetCharacter();
|
|||
|
|
oPos = Transform(*mat, character->posPower);
|
|||
|
|
|
|||
|
|
distance = Abs(Length(oPos, iPos) - (iRad+1.0f));
|
|||
|
|
if ( distance <= dLimit )
|
|||
|
|
{
|
|||
|
|
angle = RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
|
|||
|
|
if ( TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )
|
|||
|
|
{
|
|||
|
|
character = pObj->RetCharacter();
|
|||
|
|
m_height = character->posPower.y;
|
|||
|
|
return pObj;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Prend l'objet plac<61> devant.
|
|||
|
|
|
|||
|
|
BOOL CTaskTake::TruckTakeObject()
|
|||
|
|
{
|
|||
|
|
CObject* fret;
|
|||
|
|
CObject* other;
|
|||
|
|
D3DMATRIX matRotate;
|
|||
|
|
float angle;
|
|||
|
|
|
|||
|
|
if ( m_arm == TTA_FFRONT ) // prend au sol devant ?
|
|||
|
|
{
|
|||
|
|
//? fret = SearchTakeObject(angle, 1.5f, PI*0.04f);
|
|||
|
|
fret = SearchTakeObject(angle, 1.5f, PI*0.15f); //OK 1.9
|
|||
|
|
if ( fret == 0 ) return FALSE; // rien <20> prendre ?
|
|||
|
|
m_fretType = fret->RetType();
|
|||
|
|
|
|||
|
|
fret->SetTruck(m_object);
|
|||
|
|
fret->SetTruckPart(4); // prend avec la main
|
|||
|
|
|
|||
|
|
//? fret->SetPosition(0, D3DVECTOR(2.2f, -1.0f, 1.1f));
|
|||
|
|
fret->SetPosition(0, D3DVECTOR(1.7f, -0.5f, 1.1f));
|
|||
|
|
fret->SetAngleY(0, 0.1f);
|
|||
|
|
fret->SetAngleX(0, 0.0f);
|
|||
|
|
fret->SetAngleZ(0, 0.8f);
|
|||
|
|
|
|||
|
|
m_object->SetFret(fret); // prend
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if ( m_arm == TTA_FRIEND ) // prend pile sur amis ?
|
|||
|
|
{
|
|||
|
|
other = SearchFriendObject(angle, 1.5f, PI*0.04f);
|
|||
|
|
if ( other == 0 ) return FALSE;
|
|||
|
|
|
|||
|
|
fret = other->RetPower();
|
|||
|
|
if ( fret == 0 ) return FALSE; // l'autre n'a pas de pile ?
|
|||
|
|
m_fretType = fret->RetType();
|
|||
|
|
|
|||
|
|
other->SetPower(0);
|
|||
|
|
fret->SetTruck(m_object);
|
|||
|
|
fret->SetTruckPart(4); // prend avec la main
|
|||
|
|
|
|||
|
|
//? fret->SetPosition(0, D3DVECTOR(2.2f, -1.0f, 1.1f));
|
|||
|
|
fret->SetPosition(0, D3DVECTOR(1.7f, -0.5f, 1.1f));
|
|||
|
|
fret->SetAngleY(0, 0.1f);
|
|||
|
|
fret->SetAngleX(0, 0.0f);
|
|||
|
|
fret->SetAngleZ(0, 0.8f);
|
|||
|
|
|
|||
|
|
m_object->SetFret(fret); // prend
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return TRUE;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// D<>pose l'objet pris.
|
|||
|
|
|
|||
|
|
BOOL CTaskTake::TruckDeposeObject()
|
|||
|
|
{
|
|||
|
|
Character* character;
|
|||
|
|
CObject* fret;
|
|||
|
|
CObject* other;
|
|||
|
|
D3DMATRIX* mat;
|
|||
|
|
D3DVECTOR pos;
|
|||
|
|
float angle;
|
|||
|
|
|
|||
|
|
if ( m_arm == TTA_FFRONT ) // d<>pose au sol devant ?
|
|||
|
|
{
|
|||
|
|
fret = m_object->RetFret();
|
|||
|
|
if ( fret == 0 ) return FALSE; // ne porte rien ?
|
|||
|
|
m_fretType = fret->RetType();
|
|||
|
|
|
|||
|
|
mat = fret->RetWorldMatrix(0);
|
|||
|
|
pos = Transform(*mat, D3DVECTOR(-0.5f, 1.0f, 0.0f));
|
|||
|
|
m_terrain->MoveOnFloor(pos);
|
|||
|
|
fret->SetPosition(0, pos);
|
|||
|
|
fret->SetAngleY(0, m_object->RetAngleY(0)+PI/2.0f);
|
|||
|
|
fret->SetAngleX(0, 0.0f);
|
|||
|
|
fret->SetAngleZ(0, 0.0f);
|
|||
|
|
fret->FloorAdjust(); // plaque bien au sol
|
|||
|
|
|
|||
|
|
fret->SetTruck(0);
|
|||
|
|
m_object->SetFret(0); // d<>pose
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if ( m_arm == TTA_FRIEND ) // d<>pose pile sur amis ?
|
|||
|
|
{
|
|||
|
|
other = SearchFriendObject(angle, 1.5f, PI*0.04f);
|
|||
|
|
if ( other == 0 ) return FALSE;
|
|||
|
|
|
|||
|
|
fret = other->RetPower();
|
|||
|
|
if ( fret != 0 ) return FALSE; // l'autre a d<>j<EFBFBD> une pile ?
|
|||
|
|
|
|||
|
|
fret = m_object->RetFret();
|
|||
|
|
if ( fret == 0 ) return FALSE;
|
|||
|
|
m_fretType = fret->RetType();
|
|||
|
|
|
|||
|
|
other->SetPower(fret);
|
|||
|
|
fret->SetTruck(other);
|
|||
|
|
|
|||
|
|
character = other->RetCharacter();
|
|||
|
|
fret->SetPosition(0, character->posPower);
|
|||
|
|
fret->SetAngleY(0, 0.0f);
|
|||
|
|
fret->SetAngleX(0, 0.0f);
|
|||
|
|
fret->SetAngleZ(0, 0.0f);
|
|||
|
|
fret->SetTruckPart(0); // port<72> par la base
|
|||
|
|
|
|||
|
|
m_object->SetFret(0); // d<>pose
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return TRUE;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Cherche si un emplacement permet de d<>poser un objet.
|
|||
|
|
|
|||
|
|
BOOL CTaskTake::IsFreeDeposeObject(D3DVECTOR pos)
|
|||
|
|
{
|
|||
|
|
CObject* pObj;
|
|||
|
|
D3DMATRIX* mat;
|
|||
|
|
D3DVECTOR iPos, oPos;
|
|||
|
|
float oRadius;
|
|||
|
|
int i, j;
|
|||
|
|
|
|||
|
|
mat = m_object->RetWorldMatrix(0);
|
|||
|
|
iPos = Transform(*mat, pos);
|
|||
|
|
|
|||
|
|
for ( i=0 ; i<1000000 ; i++ )
|
|||
|
|
{
|
|||
|
|
pObj = (CObject*)m_iMan->SearchInstance(CLASS_OBJECT, i);
|
|||
|
|
if ( pObj == 0 ) break;
|
|||
|
|
|
|||
|
|
if ( pObj == m_object ) continue;
|
|||
|
|
if ( !pObj->RetActif() ) continue; // inactif ?
|
|||
|
|
if ( pObj->RetTruck() != 0 ) continue; // objet transport<72> ?
|
|||
|
|
|
|||
|
|
j = 0;
|
|||
|
|
while ( pObj->GetCrashSphere(j++, oPos, oRadius) )
|
|||
|
|
{
|
|||
|
|
if ( Length(iPos, oPos)-(oRadius+1.0f) < 1.0f )
|
|||
|
|
{
|
|||
|
|
return FALSE; // emplacement occup<75>
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
return TRUE; // emplacement libre
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|