597 lines
15 KiB
C++
597 lines
15 KiB
C++
// * This file is part of the COLOBOT source code
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// * Copyright (C) 2001-2008, Daniel ROUX & EPSITEC SA, www.epsitec.ch
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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. See the
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// * 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://www.gnu.org/licenses/.
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// tasktake.cpp
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#include <stdio.h>
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#include "object/task/tasktake.h"
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#include "common/iman.h"
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#include "old/terrain.h"
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#include "old/water.h"
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#include "math/geometry.h"
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#include "object/motion/motionhuman.h"
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#include "object/robotmain.h"
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#include "physics/physics.h"
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// Object's constructor.
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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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m_terrain = (CTerrain*)m_iMan->SearchInstance(CLASS_TERRAIN);
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m_arm = TTA_NEUTRAL;
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}
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// Object's destructor.
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CTaskTake::~CTaskTake()
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{
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}
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// Management of an event.
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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 ) // preliminary rotation?
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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 = Math::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); // turns left / right
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return true;
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}
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m_progress += event.rTime*m_speed; // others advance
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m_physics->SetMotorSpeed(Math::Vector(0.0f, 0.0f, 0.0f)); // immobile!
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return true;
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}
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// Assigns the goal was achieved.
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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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Math::Vector 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 = Math::NormAngle(iAngle); // 0..2*Math::PI
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oAngle = iAngle;
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m_bError = true; // operation 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 under water
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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(Math::Vector(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 under water
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other = SearchFriendObject(oAngle, 1.5f, Math::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, Math::PI*0.3f, -Math::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, Math::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, Math::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); // hides buildable area
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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, Math::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, Math::PI*0.3f, -Math::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(Math::Vector(2.5f, 0.0f, 0.0f)) ) return ERR_MANIP_OCC;
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//? m_camera->StartCentering(m_object, Math::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; // preliminary rotation necessary
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m_angle = oAngle; // angle was reached
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m_physics->SetFreeze(true); // it does not move
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m_bError = false; // ok
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return ERR_OK;
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}
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// Indicates whether the action is finished.
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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 ) // preliminary rotation?
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{
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angle = m_object->RetAngleY(0);
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angle = Math::NormAngle(angle); // 0..2*Math::PI
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if ( Math::TestAngle(angle, m_angle-Math::PI*0.01f, m_angle+Math::PI*0.01f) )
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{
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m_bTurn = false; // rotation ended
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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); // will decrease
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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); // will decrease
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}
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else
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{
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m_motion->SetAction(MHS_TAKEHIGH, 0.2f); // will decrease
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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); // gets up
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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); // shows buildable area
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}
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m_motion->SetAction(-1); // gets up
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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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// Suddenly ends the current action.
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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); // is moving again
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return true;
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}
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// Seeks the object to take in front.
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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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Math::Vector 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 = Math::NormAngle(iAngle); // 0..2*Math::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; // object transported?
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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 = Math::Distance(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 = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
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if ( Math::TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )
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{
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a = fabs(angle-iAngle);
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if ( a > Math::PI ) a = Math::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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}
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// Seeks the robot on which you want take or put a battery.
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CObject* CTaskTake::SearchFriendObject(float &angle,
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float dLimit, float aLimit)
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{
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Character* character;
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CObject* pObj;
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CObject* pPower;
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Math::Matrix* mat;
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Math::Vector iPos, oPos;
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ObjectType type, powerType;
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float iAngle, iRad, distance;
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int i;
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if ( !m_object->GetCrashSphere(0, iPos, iRad) ) return 0;
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iAngle = m_object->RetAngleY(0);
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iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
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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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if ( pObj == m_object ) continue; // yourself?
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type = pObj->RetType();
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if ( type != OBJECT_MOBILEfa &&
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type != OBJECT_MOBILEta &&
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type != OBJECT_MOBILEwa &&
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type != OBJECT_MOBILEia &&
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type != OBJECT_MOBILEfc &&
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type != OBJECT_MOBILEtc &&
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type != OBJECT_MOBILEwc &&
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type != OBJECT_MOBILEic &&
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type != OBJECT_MOBILEfi &&
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type != OBJECT_MOBILEti &&
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type != OBJECT_MOBILEwi &&
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type != OBJECT_MOBILEii &&
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type != OBJECT_MOBILEfs &&
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type != OBJECT_MOBILEts &&
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type != OBJECT_MOBILEws &&
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type != OBJECT_MOBILEis &&
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type != OBJECT_MOBILErt &&
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type != OBJECT_MOBILErc &&
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type != OBJECT_MOBILErr &&
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type != OBJECT_MOBILErs &&
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type != OBJECT_MOBILEsa &&
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type != OBJECT_MOBILEtg &&
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type != OBJECT_MOBILEft &&
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type != OBJECT_MOBILEtt &&
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type != OBJECT_MOBILEwt &&
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type != OBJECT_MOBILEit &&
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type != OBJECT_TOWER &&
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type != OBJECT_RESEARCH &&
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type != OBJECT_ENERGY &&
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type != OBJECT_LABO &&
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type != OBJECT_NUCLEAR ) continue;
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pPower = pObj->RetPower();
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if ( pPower != 0 )
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{
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if ( pPower->RetLock() ) continue;
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if ( pPower->RetZoomY(0) != 1.0f ) continue;
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powerType = pPower->RetType();
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if ( powerType == OBJECT_NULL ||
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powerType == OBJECT_FIX ) continue;
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}
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mat = pObj->RetWorldMatrix(0);
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character = pObj->RetCharacter();
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oPos = Transform(*mat, character->posPower);
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distance = fabs(Math::Distance(oPos, iPos) - (iRad+1.0f));
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if ( distance <= dLimit )
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{
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angle = Math::RotateAngle(oPos.x-iPos.x, iPos.z-oPos.z); // CW !
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if ( Math::TestAngle(angle, iAngle-aLimit, iAngle+aLimit) )
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{
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character = pObj->RetCharacter();
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m_height = character->posPower.y;
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return pObj;
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}
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}
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}
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return 0;
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}
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// Takes the object in front.
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bool CTaskTake::TruckTakeObject()
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{
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CObject* fret;
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CObject* other;
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Math::Matrix matRotate;
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float angle;
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if ( m_arm == TTA_FFRONT ) // takes on the ground in front?
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{
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//? fret = SearchTakeObject(angle, 1.5f, Math::PI*0.04f);
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fret = SearchTakeObject(angle, 1.5f, Math::PI*0.15f); //OK 1.9
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if ( fret == 0 ) return false; // rien <20> prendre ?
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m_fretType = fret->RetType();
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fret->SetTruck(m_object);
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fret->SetTruckPart(4); // takes with the hand
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//? fret->SetPosition(0, Math::Vector(2.2f, -1.0f, 1.1f));
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fret->SetPosition(0, Math::Vector(1.7f, -0.5f, 1.1f));
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fret->SetAngleY(0, 0.1f);
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fret->SetAngleX(0, 0.0f);
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fret->SetAngleZ(0, 0.8f);
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m_object->SetFret(fret); // takes
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}
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if ( m_arm == TTA_FRIEND ) // takes friend's battery?
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{
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other = SearchFriendObject(angle, 1.5f, Math::PI*0.04f);
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if ( other == 0 ) return false;
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fret = other->RetPower();
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if ( fret == 0 ) return false; // the other does not have a battery?
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m_fretType = fret->RetType();
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other->SetPower(0);
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fret->SetTruck(m_object);
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fret->SetTruckPart(4); // takes with the hand
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//? fret->SetPosition(0, Math::Vector(2.2f, -1.0f, 1.1f));
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fret->SetPosition(0, Math::Vector(1.7f, -0.5f, 1.1f));
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fret->SetAngleY(0, 0.1f);
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fret->SetAngleX(0, 0.0f);
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fret->SetAngleZ(0, 0.8f);
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m_object->SetFret(fret); // takes
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}
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return true;
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}
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// Deposes the object taken.
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bool CTaskTake::TruckDeposeObject()
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{
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Character* character;
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CObject* fret;
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CObject* other;
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Math::Matrix* mat;
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Math::Vector pos;
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float angle;
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if ( m_arm == TTA_FFRONT ) // deposes on the ground in front?
|
||
{
|
||
fret = m_object->RetFret();
|
||
if ( fret == 0 ) return false; // does nothing?
|
||
m_fretType = fret->RetType();
|
||
|
||
mat = fret->RetWorldMatrix(0);
|
||
pos = Transform(*mat, Math::Vector(-0.5f, 1.0f, 0.0f));
|
||
m_terrain->MoveOnFloor(pos);
|
||
fret->SetPosition(0, pos);
|
||
fret->SetAngleY(0, m_object->RetAngleY(0)+Math::PI/2.0f);
|
||
fret->SetAngleX(0, 0.0f);
|
||
fret->SetAngleZ(0, 0.0f);
|
||
fret->FloorAdjust(); // plate well on the ground
|
||
|
||
fret->SetTruck(0);
|
||
m_object->SetFret(0); // deposit
|
||
}
|
||
|
||
if ( m_arm == TTA_FRIEND ) // deposes battery on friends?
|
||
{
|
||
other = SearchFriendObject(angle, 1.5f, Math::PI*0.04f);
|
||
if ( other == 0 ) return false;
|
||
|
||
fret = other->RetPower();
|
||
if ( fret != 0 ) return false; // the other already has a battery?
|
||
|
||
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); // carried by the base
|
||
|
||
m_object->SetFret(0); // deposit
|
||
}
|
||
|
||
return true;
|
||
}
|
||
|
||
// Seeks if a location allows to deposit an object.
|
||
|
||
bool CTaskTake::IsFreeDeposeObject(Math::Vector pos)
|
||
{
|
||
CObject* pObj;
|
||
Math::Matrix* mat;
|
||
Math::Vector 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; // inactive?
|
||
if ( pObj->RetTruck() != 0 ) continue; // object transported?
|
||
|
||
j = 0;
|
||
while ( pObj->GetCrashSphere(j++, oPos, oRadius) )
|
||
{
|
||
if ( Math::Distance(iPos, oPos)-(oRadius+1.0f) < 1.0f )
|
||
{
|
||
return false; // location occupied
|
||
}
|
||
}
|
||
}
|
||
return true; // location free
|
||
}
|
||
|
||
|