161 lines
6.4 KiB
C++
161 lines
6.4 KiB
C++
/*
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* This file is part of the Colobot: Gold Edition source code
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* Copyright (C) 2001-2014, Daniel Roux, EPSITEC SA & TerranovaTeam
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* http://epsiteс.ch; http://colobot.info; http://github.com/colobot
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see http://gnu.org/licenses
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*/
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#pragma once
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#include "object/task/task.h"
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#include "math/vector.h"
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#include <memory>
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class CObject;
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const int MAXPOINTS = 500;
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enum TaskGotoGoal
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{
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TGG_DEFAULT = -1, // default mode
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TGG_STOP = 0, // goes to destination pausing with precision
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TGG_EXPRESS = 1, // goes to destination without stopping
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};
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enum TaskGotoCrash
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{
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TGC_DEFAULT = -1, // default mode
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TGC_HALT = 0, // stops if collision
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TGC_RIGHTLEFT = 1, // right-left
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TGC_LEFTRIGHT = 2, // left-right
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TGC_LEFT = 3, // left
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TGC_RIGHT = 4, // right
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TGC_BEAM = 5, // algorithm "sunlight"
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};
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enum TaskGotoPhase
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{
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TGP_ADVANCE = 1, // advance
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TGP_LAND = 2, // landed
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TGP_TURN = 3, // turns to finish
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TGP_MOVE = 4, // advance to finish
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TGP_CRWAIT = 5, // waits after collision
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TGP_CRTURN = 6, // turns right after collision
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TGP_CRADVANCE = 7, // advance to the right after collision
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TGP_CLWAIT = 8, // waits after collision
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TGP_CLTURN = 9, // turns left after collision
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TGP_CLADVANCE = 10, // advance to the left after collision
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TGP_BEAMLEAK = 11, // beam: leak (leaking)
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TGP_BEAMSEARCH = 12, // beam: search
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TGP_BEAMWCOLD = 13, // beam: expects cool reactor
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TGP_BEAMUP = 14, // beam: off
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TGP_BEAMGOTO = 15, // beam: goto dot list
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TGP_BEAMDOWN = 16, // beam: landed
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};
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class CTaskGoto : public CForegroundTask
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{
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public:
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CTaskGoto(COldObject* object);
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~CTaskGoto();
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bool EventProcess(const Event &event);
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Error Start(Math::Vector goal, float altitude, TaskGotoGoal goalMode, TaskGotoCrash crashMode);
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Error IsEnded();
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protected:
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CObject* WormSearch(Math::Vector &impact);
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void WormFrame(float rTime);
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CObject* SearchTarget(Math::Vector pos, float margin);
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bool AdjustTarget(CObject* pObj, Math::Vector &pos, float &distance);
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bool AdjustBuilding(Math::Vector &pos, float margin, float &distance);
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bool GetHotPoint(CObject *pObj, Math::Vector &pos, bool bTake, float distance, float &suppl);
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bool LeakSearch(Math::Vector &pos, float &delay);
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void ComputeRepulse(Math::Point &dir);
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void ComputeFlyingRepulse(float &dir);
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int BeamShortcut();
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void BeamStart();
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void BeamInit();
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Error BeamSearch(const Math::Vector &start, const Math::Vector &goal, float goalRadius);
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Error BeamExplore(const Math::Vector &prevPos, const Math::Vector &curPos, const Math::Vector &goalPos, float goalRadius, float angle, int nbDiv, float step, int i, int nbIter);
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Math::Vector BeamPoint(const Math::Vector &startPoint, const Math::Vector &goalPoint, float angle, float step);
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void BitmapDebug(const Math::Vector &min, const Math::Vector &max, const Math::Vector &start, const Math::Vector &goal);
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bool BitmapTestLine(const Math::Vector &start, const Math::Vector &goal, float stepAngle, bool bSecond);
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void BitmapObject();
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void BitmapTerrain(const Math::Vector &min, const Math::Vector &max);
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void BitmapTerrain(int minx, int miny, int maxx, int maxy);
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bool BitmapOpen();
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bool BitmapClose();
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void BitmapSetCircle(const Math::Vector &pos, float radius);
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void BitmapClearCircle(const Math::Vector &pos, float radius);
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void BitmapSetDot(int rank, int x, int y);
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void BitmapClearDot(int rank, int x, int y);
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bool BitmapTestDot(int rank, int x, int y);
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protected:
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Math::Vector m_goal;
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Math::Vector m_goalObject;
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float m_angle = 0.0f;
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float m_altitude = 0.0f;
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TaskGotoCrash m_crashMode = TGC_DEFAULT;
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TaskGotoGoal m_goalMode = TGG_DEFAULT;
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TaskGotoPhase m_phase = TGP_ADVANCE;
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int m_try = 0;
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Error m_error = ERR_OK;
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bool m_bTake = false;
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float m_stopLength = 0.0f; // braking distance
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float m_time = 0.0f;
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Math::Vector m_pos;
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bool m_bWorm = false;
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bool m_bApprox = false;
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float m_wormLastTime = 0.0f;
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float m_lastDistance = 0.0f;
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int m_bmSize = 0; // width or height of the table
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int m_bmOffset = 0; // m_bmSize/2
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int m_bmLine = 0; // increment line m_bmSize/8
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std::unique_ptr<unsigned char[]> m_bmArray; // bit table
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int m_bmMinX = 0, m_bmMinY = 0;
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int m_bmMaxX = 0, m_bmMaxY = 0;
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int m_bmTotal = 0; // number of points in m_bmPoints
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int m_bmIndex = 0; // index in m_bmPoints
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Math::Vector m_bmPoints[MAXPOINTS+2];
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char m_bmIter[MAXPOINTS+2] = {};
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int m_bmIterCounter = 0;
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CObject* m_bmCargoObject = nullptr;
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float m_bmFinalMove = 0.0f; // final advance distance
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float m_bmFinalDist = 0.0f; // effective distance to advance
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Math::Vector m_bmFinalPos; // initial position before advance
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float m_bmTimeLimit = 0.0f;
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int m_bmStep = 0;
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Math::Vector m_bmWatchDogPos;
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float m_bmWatchDogTime = 0.0f;
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Math::Vector m_leakPos; // initial position leak
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float m_leakDelay = 0.0f;
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float m_leakTime = 0.0f;
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bool m_bLeakRecede = false;
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};
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