546 lines
17 KiB
C++
546 lines
17 KiB
C++
/*
|
|
* This file is part of the Colobot: Gold Edition source code
|
|
* Copyright (C) 2001-2018, Daniel Roux, EPSITEC SA & TerranovaTeam
|
|
* http://epsitec.ch; http://colobot.info; http://github.com/colobot
|
|
*
|
|
* This program 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 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program 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 this program. If not, see http://gnu.org/licenses
|
|
*/
|
|
|
|
|
|
#include "object/task/tasktake.h"
|
|
|
|
#include "graphics/engine/terrain.h"
|
|
#include "graphics/engine/water.h"
|
|
|
|
#include "level/robotmain.h"
|
|
|
|
#include "math/geometry.h"
|
|
|
|
#include "object/object_manager.h"
|
|
#include "object/old_object.h"
|
|
|
|
#include "object/interface/carrier_object.h"
|
|
#include "object/interface/powered_object.h"
|
|
#include "object/interface/transportable_object.h"
|
|
|
|
#include "object/motion/motionhuman.h"
|
|
|
|
#include "physics/physics.h"
|
|
|
|
#include "sound/sound.h"
|
|
|
|
|
|
|
|
|
|
// Object's constructor.
|
|
|
|
CTaskTake::CTaskTake(COldObject* object) : CForegroundTask(object)
|
|
{
|
|
m_arm = TTA_NEUTRAL;
|
|
|
|
assert(m_object->Implements(ObjectInterfaceType::Carrier));
|
|
}
|
|
|
|
// Object's destructor.
|
|
|
|
CTaskTake::~CTaskTake()
|
|
{
|
|
}
|
|
|
|
|
|
// Management of an event.
|
|
|
|
bool CTaskTake::EventProcess(const Event &event)
|
|
{
|
|
float a, g, cirSpeed;
|
|
|
|
if ( m_engine->GetPause() ) return true;
|
|
if ( event.type != EVENT_FRAME ) return true;
|
|
if ( m_bError ) return false;
|
|
|
|
if ( m_bTurn ) // preliminary rotation?
|
|
{
|
|
a = m_object->GetRotationY();
|
|
g = m_angle;
|
|
cirSpeed = Math::Direction(a, g)*2.0f;
|
|
if ( cirSpeed > 1.0f ) cirSpeed = 1.0f;
|
|
if ( cirSpeed < -1.0f ) cirSpeed = -1.0f;
|
|
|
|
m_physics->SetMotorSpeedZ(cirSpeed); // turns left / right
|
|
return true;
|
|
}
|
|
|
|
m_progress += event.rTime*m_speed; // others advance
|
|
|
|
m_physics->SetMotorSpeed(Math::Vector(0.0f, 0.0f, 0.0f)); // immobile!
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
// Assigns the goal was achieved.
|
|
|
|
Error CTaskTake::Start()
|
|
{
|
|
m_height = 0.0f;
|
|
m_step = 0;
|
|
m_progress = 0.0f;
|
|
|
|
float iAngle = m_object->GetRotationY();
|
|
iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
|
|
float oAngle = iAngle;
|
|
|
|
m_bError = true; // operation impossible
|
|
if ( !m_physics->GetLand() )
|
|
{
|
|
Math::Vector pos = m_object->GetPosition();
|
|
float h = m_water->GetLevel(m_object);
|
|
if ( pos.y < h ) return ERR_MANIP_WATER; // impossible under water
|
|
return ERR_MANIP_FLY;
|
|
}
|
|
|
|
ObjectType type = m_object->GetType();
|
|
if ( type != OBJECT_HUMAN &&
|
|
type != OBJECT_TECH ) return ERR_WRONG_BOT;
|
|
|
|
m_physics->SetMotorSpeed(Math::Vector(0.0f, 0.0f, 0.0f));
|
|
|
|
if (m_object->IsCarryingCargo())
|
|
m_order = TTO_DEPOSE;
|
|
else
|
|
m_order = TTO_TAKE;
|
|
|
|
|
|
if ( m_order == TTO_TAKE )
|
|
{
|
|
Math::Vector pos = m_object->GetPosition();
|
|
float h = m_water->GetLevel(m_object);
|
|
if ( pos.y < h ) return ERR_MANIP_WATER; // impossible under water
|
|
|
|
CObject* other = SearchFriendObject(oAngle, 1.5f, Math::PI*0.50f);
|
|
if (other != nullptr) assert(other->Implements(ObjectInterfaceType::Powered));
|
|
|
|
if (other != nullptr && dynamic_cast<CPoweredObject*>(other)->GetPower() != nullptr)
|
|
{
|
|
CObject* power = dynamic_cast<CPoweredObject*>(other)->GetPower();
|
|
type = power->GetType();
|
|
if ( type == OBJECT_URANIUM ) return ERR_MANIP_RADIO;
|
|
assert(power->Implements(ObjectInterfaceType::Transportable));
|
|
//? m_camera->StartCentering(m_object, Math::PI*0.3f, -Math::PI*0.1f, 0.0f, 0.8f);
|
|
m_arm = TTA_FRIEND;
|
|
}
|
|
else
|
|
{
|
|
other = SearchTakeObject(oAngle, 1.5f, Math::PI*0.45f);
|
|
if ( other == nullptr ) return ERR_MANIP_NIL;
|
|
type = other->GetType();
|
|
if ( type == OBJECT_URANIUM ) return ERR_MANIP_RADIO;
|
|
//? m_camera->StartCentering(m_object, Math::PI*0.3f, 99.9f, 0.0f, 0.8f);
|
|
m_arm = TTA_FFRONT;
|
|
m_main->HideDropZone(other); // hides buildable area
|
|
}
|
|
}
|
|
|
|
if ( m_order == TTO_DEPOSE )
|
|
{
|
|
//? speed = m_physics->GetMotorSpeed();
|
|
//? if ( speed.x != 0.0f ||
|
|
//? speed.z != 0.0f ) return ERR_MANIP_MOTOR;
|
|
|
|
CObject* other = SearchFriendObject(oAngle, 1.5f, Math::PI*0.50f);
|
|
if (other != nullptr) assert(other->Implements(ObjectInterfaceType::Powered));
|
|
|
|
if (other != nullptr && dynamic_cast<CPoweredObject*>(other)->GetPower() == nullptr )
|
|
{
|
|
//? m_camera->StartCentering(m_object, Math::PI*0.3f, -Math::PI*0.1f, 0.0f, 0.8f);
|
|
m_arm = TTA_FRIEND;
|
|
}
|
|
else
|
|
{
|
|
if ( !IsFreeDeposeObject(Math::Vector(2.5f, 0.0f, 0.0f)) ) return ERR_MANIP_OCC;
|
|
//? m_camera->StartCentering(m_object, Math::PI*0.3f, 99.9f, 0.0f, 0.8f);
|
|
m_arm = TTA_FFRONT;
|
|
}
|
|
}
|
|
|
|
m_bTurn = true; // preliminary rotation necessary
|
|
m_angle = oAngle; // angle was reached
|
|
|
|
m_physics->SetFreeze(true); // it does not move
|
|
|
|
m_bError = false; // ok
|
|
return ERR_OK;
|
|
}
|
|
|
|
// Indicates whether the action is finished.
|
|
|
|
Error CTaskTake::IsEnded()
|
|
{
|
|
if ( m_engine->GetPause() ) return ERR_CONTINUE;
|
|
if ( m_bError ) return ERR_STOP;
|
|
|
|
if ( m_bTurn ) // preliminary rotation?
|
|
{
|
|
float angle = m_object->GetRotationY();
|
|
angle = Math::NormAngle(angle); // 0..2*Math::PI
|
|
|
|
if ( Math::TestAngle(angle, m_angle-Math::PI*0.01f, m_angle+Math::PI*0.01f) )
|
|
{
|
|
m_bTurn = false; // rotation ended
|
|
m_physics->SetMotorSpeedZ(0.0f);
|
|
|
|
if ( m_arm == TTA_FFRONT )
|
|
{
|
|
m_motion->SetAction(MHS_TAKE, 0.2f); // will decrease
|
|
}
|
|
if ( m_arm == TTA_FRIEND )
|
|
{
|
|
if ( m_height <= 3.0f )
|
|
{
|
|
m_motion->SetAction(MHS_TAKEOTHER, 0.2f); // will decrease
|
|
}
|
|
else
|
|
{
|
|
m_motion->SetAction(MHS_TAKEHIGH, 0.2f); // will decrease
|
|
}
|
|
}
|
|
m_progress = 0.0f;
|
|
m_speed = 1.0f/0.6f;
|
|
}
|
|
return ERR_CONTINUE;
|
|
}
|
|
|
|
if ( m_progress < 1.0f ) return ERR_CONTINUE;
|
|
m_progress = 0.0f;
|
|
|
|
m_step ++;
|
|
|
|
if ( m_order == TTO_TAKE )
|
|
{
|
|
if ( m_step == 1 )
|
|
{
|
|
if ( TransporterTakeObject() )
|
|
{
|
|
if ( m_arm == TTA_FRIEND &&
|
|
m_object->GetCargo()->Implements(ObjectInterfaceType::PowerContainer) )
|
|
{
|
|
m_sound->Play(SOUND_POWEROFF, m_object->GetPosition());
|
|
}
|
|
}
|
|
m_motion->SetAction(MHS_UPRIGHT, 0.4f); // gets up
|
|
m_progress = 0.0f;
|
|
m_speed = 1.0f/0.8f;
|
|
m_camera->StopCentering(m_object, 0.8f);
|
|
return ERR_CONTINUE;
|
|
}
|
|
}
|
|
|
|
if ( m_order == TTO_DEPOSE )
|
|
{
|
|
if ( m_step == 1 )
|
|
{
|
|
CObject* cargo = m_object->GetCargo();
|
|
TransporterDeposeObject();
|
|
if ( m_arm == TTA_FRIEND &&
|
|
cargo->Implements(ObjectInterfaceType::PowerContainer) )
|
|
{
|
|
m_sound->Play(SOUND_POWERON, m_object->GetPosition());
|
|
}
|
|
if ( cargo != nullptr && m_cargoType == OBJECT_METAL && m_arm == TTA_FFRONT )
|
|
{
|
|
m_main->ShowDropZone(cargo, m_object); // shows buildable area
|
|
}
|
|
m_motion->SetAction(-1); // gets up
|
|
m_progress = 0.0f;
|
|
m_speed = 1.0f/0.4f;
|
|
m_camera->StopCentering(m_object, 0.8f);
|
|
return ERR_CONTINUE;
|
|
}
|
|
}
|
|
|
|
Abort();
|
|
return ERR_STOP;
|
|
}
|
|
|
|
// Suddenly ends the current action.
|
|
|
|
bool CTaskTake::Abort()
|
|
{
|
|
m_motion->SetAction(-1);
|
|
m_camera->StopCentering(m_object, 0.8f);
|
|
m_physics->SetFreeze(false); // is moving again
|
|
return true;
|
|
}
|
|
|
|
|
|
// Seeks the object to take in front.
|
|
|
|
CObject* CTaskTake::SearchTakeObject(float &angle,
|
|
float dLimit, float aLimit)
|
|
{
|
|
CObject *pBest;
|
|
Math::Vector iPos, oPos;
|
|
float min, iAngle, bAngle, a, distance;
|
|
|
|
iPos = m_object->GetPosition();
|
|
iAngle = m_object->GetRotationY();
|
|
iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
|
|
|
|
min = 1000000.0f;
|
|
pBest = nullptr;
|
|
bAngle = 0.0f;
|
|
for (CObject* pObj : CObjectManager::GetInstancePointer()->GetAllObjects())
|
|
{
|
|
if ( !pObj->Implements(ObjectInterfaceType::Transportable) ) continue;
|
|
|
|
if (IsObjectBeingTransported(pObj)) continue;
|
|
if ( pObj->GetLock() ) continue;
|
|
if ( pObj->GetScaleY() != 1.0f ) continue;
|
|
|
|
oPos = pObj->GetPosition();
|
|
distance = Math::Distance(oPos, iPos);
|
|
if ( distance >= 4.0f-dLimit &&
|
|
distance <= 4.0f+dLimit )
|
|
{
|
|
angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
|
|
if ( Math::TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )
|
|
{
|
|
a = fabs(angle-iAngle);
|
|
if ( a > Math::PI ) a = Math::PI*2.0f-a;
|
|
if ( a < min )
|
|
{
|
|
min = a;
|
|
pBest = pObj;
|
|
bAngle = angle;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
angle = bAngle;
|
|
return pBest;
|
|
}
|
|
|
|
// Seeks the robot on which you want take or put a battery.
|
|
|
|
CObject* CTaskTake::SearchFriendObject(float &angle,
|
|
float dLimit, float aLimit)
|
|
{
|
|
if (m_object->GetCrashSphereCount() == 0) return nullptr;
|
|
|
|
auto crashSphere = m_object->GetFirstCrashSphere();
|
|
Math::Vector iPos = crashSphere.sphere.pos;
|
|
float iRad = crashSphere.sphere.radius;
|
|
|
|
float iAngle = m_object->GetRotationY();
|
|
iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
|
|
|
|
for (CObject* pObj : CObjectManager::GetInstancePointer()->GetAllObjects())
|
|
{
|
|
if ( pObj == m_object ) continue; // yourself?
|
|
|
|
ObjectType type = pObj->GetType();
|
|
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;
|
|
|
|
assert(pObj->Implements(ObjectInterfaceType::Powered));
|
|
|
|
CObject* power = dynamic_cast<CPoweredObject*>(pObj)->GetPower();
|
|
if (power != nullptr)
|
|
{
|
|
if ( power->GetLock() ) continue;
|
|
if ( power->GetScaleY() != 1.0f ) continue;
|
|
}
|
|
|
|
Math::Matrix* mat = pObj->GetWorldMatrix(0);
|
|
Math::Vector oPos = Math::Transform(*mat, dynamic_cast<CPoweredObject*>(pObj)->GetPowerPosition());
|
|
|
|
float distance = fabs(Math::Distance(oPos, iPos) - (iRad+1.0f));
|
|
if ( distance <= dLimit )
|
|
{
|
|
angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
|
|
if ( Math::TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )
|
|
{
|
|
Math::Vector powerPos = dynamic_cast<CPoweredObject*>(pObj)->GetPowerPosition();
|
|
m_height = powerPos.y;
|
|
return pObj;
|
|
}
|
|
}
|
|
}
|
|
|
|
return nullptr;
|
|
}
|
|
|
|
// Takes the object in front.
|
|
|
|
bool CTaskTake::TransporterTakeObject()
|
|
{
|
|
if (m_arm == TTA_FFRONT) // takes on the ground in front?
|
|
{
|
|
//? cargo = SearchTakeObject(angle, 1.5f, Math::PI*0.04f);
|
|
float angle = 0.0f;
|
|
CObject* cargo = SearchTakeObject(angle, 1.5f, Math::PI*0.15f); //OK 1.9
|
|
if (cargo == nullptr) return false; // nothing to take ?
|
|
assert(cargo->Implements(ObjectInterfaceType::Transportable));
|
|
|
|
m_cargoType = cargo->GetType();
|
|
|
|
dynamic_cast<CTransportableObject*>(cargo)->SetTransporter(m_object);
|
|
dynamic_cast<CTransportableObject*>(cargo)->SetTransporterPart(4); // takes with the hand
|
|
|
|
//? cargo->SetPosition(Math::Vector(2.2f, -1.0f, 1.1f));
|
|
cargo->SetPosition(Math::Vector(1.7f, -0.5f, 1.1f));
|
|
cargo->SetRotationY(0.1f);
|
|
cargo->SetRotationX(0.0f);
|
|
cargo->SetRotationZ(0.8f);
|
|
|
|
m_object->SetCargo(cargo); // takes
|
|
}
|
|
|
|
if (m_arm == TTA_FRIEND) // takes friend's battery?
|
|
{
|
|
float angle = 0.0f;
|
|
CObject* other = SearchFriendObject(angle, 1.5f, Math::PI*0.04f);
|
|
if (other == nullptr) return false;
|
|
assert(other->Implements(ObjectInterfaceType::Powered));
|
|
|
|
CObject* cargo = dynamic_cast<CPoweredObject*>(other)->GetPower();
|
|
if (cargo == nullptr) return false; // the other does not have a battery?
|
|
assert(cargo->Implements(ObjectInterfaceType::Transportable));
|
|
|
|
m_cargoType = cargo->GetType();
|
|
|
|
dynamic_cast<CPoweredObject*>(other)->SetPower(nullptr);
|
|
dynamic_cast<CTransportableObject*>(cargo)->SetTransporter(m_object);
|
|
dynamic_cast<CTransportableObject*>(cargo)->SetTransporterPart(4); // takes with the hand
|
|
|
|
//? cargo->SetPosition(Math::Vector(2.2f, -1.0f, 1.1f));
|
|
cargo->SetPosition(Math::Vector(1.7f, -0.5f, 1.1f));
|
|
cargo->SetRotationY(0.1f);
|
|
cargo->SetRotationX(0.0f);
|
|
cargo->SetRotationZ(0.8f);
|
|
|
|
m_object->SetCargo(cargo); // takes
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
// Deposes the object taken.
|
|
|
|
bool CTaskTake::TransporterDeposeObject()
|
|
{
|
|
if ( m_arm == TTA_FFRONT ) // deposes on the ground in front?
|
|
{
|
|
CObject* cargo = m_object->GetCargo();
|
|
if (cargo == nullptr) return false; // does nothing?
|
|
assert(cargo->Implements(ObjectInterfaceType::Transportable));
|
|
|
|
m_cargoType = cargo->GetType();
|
|
|
|
Math::Matrix* mat = cargo->GetWorldMatrix(0);
|
|
Math::Vector pos = Transform(*mat, Math::Vector(-0.5f, 1.0f, 0.0f));
|
|
m_terrain->AdjustToFloor(pos);
|
|
cargo->SetPosition(pos);
|
|
cargo->SetRotationY(m_object->GetRotationY()+Math::PI/2.0f);
|
|
cargo->SetRotationX(0.0f);
|
|
cargo->SetRotationZ(0.0f);
|
|
cargo->FloorAdjust(); // plate well on the ground
|
|
|
|
dynamic_cast<CTransportableObject*>(cargo)->SetTransporter(nullptr);
|
|
m_object->SetCargo(nullptr); // deposit
|
|
}
|
|
|
|
if ( m_arm == TTA_FRIEND ) // deposes battery on friends?
|
|
{
|
|
float angle = 0.0f;
|
|
CObject* other = SearchFriendObject(angle, 1.5f, Math::PI*0.04f);
|
|
if (other == nullptr) return false;
|
|
assert(other->Implements(ObjectInterfaceType::Powered));
|
|
|
|
CObject* cargo = dynamic_cast<CPoweredObject*>(other)->GetPower();
|
|
if (cargo != nullptr) return false; // the other already has a battery?
|
|
|
|
cargo = m_object->GetCargo();
|
|
if (cargo == nullptr) return false;
|
|
assert(cargo->Implements(ObjectInterfaceType::Transportable));
|
|
m_cargoType = cargo->GetType();
|
|
|
|
dynamic_cast<CPoweredObject*>(other)->SetPower(cargo);
|
|
dynamic_cast<CTransportableObject*>(cargo)->SetTransporter(other);
|
|
|
|
cargo->SetPosition(dynamic_cast<CPoweredObject*>(other)->GetPowerPosition());
|
|
cargo->SetRotationY(0.0f);
|
|
cargo->SetRotationX(0.0f);
|
|
cargo->SetRotationZ(0.0f);
|
|
dynamic_cast<CTransportableObject*>(cargo)->SetTransporterPart(0); // carried by the base
|
|
|
|
m_object->SetCargo(nullptr); // deposit
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
// Seeks if a location allows to deposit an object.
|
|
|
|
bool CTaskTake::IsFreeDeposeObject(Math::Vector pos)
|
|
{
|
|
Math::Matrix* mat = m_object->GetWorldMatrix(0);
|
|
Math::Vector iPos = Transform(*mat, pos);
|
|
|
|
for (CObject* pObj : CObjectManager::GetInstancePointer()->GetAllObjects())
|
|
{
|
|
if ( pObj == m_object ) continue;
|
|
if ( !pObj->GetDetectable() ) continue; // inactive?
|
|
if (IsObjectBeingTransported(pObj)) continue;
|
|
|
|
for (const auto& crashSphere : pObj->GetAllCrashSpheres())
|
|
{
|
|
if ( Math::Distance(iPos, crashSphere.sphere.pos)-(crashSphere.sphere.radius+1.0f) < 1.0f )
|
|
{
|
|
return false; // location occupied
|
|
}
|
|
}
|
|
}
|
|
return true; // location free
|
|
}
|