583 lines
17 KiB
C++
583 lines
17 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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#include "object/task/tasktake.h"
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#include "graphics/engine/terrain.h"
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#include "graphics/engine/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/object_manager.h"
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#include "object/robotmain.h"
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#include "object/interface/transportable_object.h"
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#include "physics/physics.h"
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// Object's constructor.
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CTaskTake::CTaskTake(CObject* object) : CTask(object)
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{
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m_terrain = CRobotMain::GetInstancePointer()->GetTerrain();
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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->GetPause() ) return true;
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if ( event.type != 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->GetAngleY(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->GetAngleY(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->GetLand() )
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{
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pos = m_object->GetPosition(0);
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h = m_water->GetLevel(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->GetType();
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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->GetCargo() == 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->GetPosition(0);
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h = m_water->GetLevel(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->GetPower() != 0 )
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{
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type = other->GetPower()->GetType();
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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->GetType();
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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->GetMotorSpeed();
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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->GetPower() == 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* cargo;
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float angle;
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if ( m_engine->GetPause() ) 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->GetAngleY(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 ( TransporterTakeObject() )
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{
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if ( m_arm == TTA_FRIEND &&
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(m_cargoType == OBJECT_POWER ||
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m_cargoType == OBJECT_ATOMIC ) )
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{
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m_sound->Play(SOUND_POWEROFF, m_object->GetPosition(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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cargo = m_object->GetCargo();
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TransporterDeposeObject();
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if ( m_arm == TTA_FRIEND &&
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(m_cargoType == OBJECT_POWER ||
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m_cargoType == OBJECT_ATOMIC ) )
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{
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m_sound->Play(SOUND_POWERON, m_object->GetPosition(0));
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}
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if ( cargo != 0 && m_cargoType == OBJECT_METAL && m_arm == TTA_FFRONT )
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{
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m_main->ShowDropZone(cargo, 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 *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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iPos = m_object->GetPosition(0);
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iAngle = m_object->GetAngleY(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 (CObject* pObj : CObjectManager::GetInstancePointer()->GetAllObjects())
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{
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type = pObj->GetType();
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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 (IsObjectBeingTransported(pObj)) continue;
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if ( pObj->GetLock() ) continue;
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if ( pObj->GetZoomY(0) != 1.0f ) continue;
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oPos = pObj->GetPosition(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* pPower;
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Math::Matrix* mat;
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ObjectType type, powerType;
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float iAngle, distance;
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if (m_object->GetCrashSphereCount() == 0) return 0;
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auto crashSphere = m_object->GetFirstCrashSphere();
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Math::Vector iPos = crashSphere.sphere.pos;
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float iRad = crashSphere.sphere.radius;
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iAngle = m_object->GetAngleY(0);
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iAngle = Math::NormAngle(iAngle); // 0..2*Math::PI
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for (CObject* pObj : CObjectManager::GetInstancePointer()->GetAllObjects())
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{
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if ( pObj == m_object ) continue; // yourself?
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type = pObj->GetType();
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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->GetPower();
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if ( pPower != 0 )
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{
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if ( pPower->GetLock() ) continue;
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if ( pPower->GetZoomY(0) != 1.0f ) continue;
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powerType = pPower->GetType();
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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->GetWorldMatrix(0);
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character = pObj->GetCharacter();
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Math::Vector 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->GetCharacter();
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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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||
|
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// Takes the object in front.
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bool CTaskTake::TransporterTakeObject()
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{
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CObject* cargo;
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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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//? cargo = SearchTakeObject(angle, 1.5f, Math::PI*0.04f);
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cargo = SearchTakeObject(angle, 1.5f, Math::PI*0.15f); //OK 1.9
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if ( cargo == 0 ) return false; // rien <20> prendre ?
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m_cargoType = cargo->GetType();
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|
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dynamic_cast<CTransportableObject*>(cargo)->SetTransporter(m_object);
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dynamic_cast<CTransportableObject*>(cargo)->SetTransporterPart(4); // takes with the hand
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|
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//? cargo->SetPosition(0, Math::Vector(2.2f, -1.0f, 1.1f));
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cargo->SetPosition(0, Math::Vector(1.7f, -0.5f, 1.1f));
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cargo->SetAngleY(0, 0.1f);
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cargo->SetAngleX(0, 0.0f);
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cargo->SetAngleZ(0, 0.8f);
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|
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m_object->SetCargo(cargo); // takes
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}
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|
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if ( m_arm == TTA_FRIEND ) // takes friend's battery?
|
||
{
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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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cargo = other->GetPower();
|
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if ( cargo == 0 ) return false; // the other does not have a battery?
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m_cargoType = cargo->GetType();
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|
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other->SetPower(0);
|
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dynamic_cast<CTransportableObject*>(cargo)->SetTransporter(m_object);
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dynamic_cast<CTransportableObject*>(cargo)->SetTransporterPart(4); // takes with the hand
|
||
|
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//? cargo->SetPosition(0, Math::Vector(2.2f, -1.0f, 1.1f));
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cargo->SetPosition(0, Math::Vector(1.7f, -0.5f, 1.1f));
|
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cargo->SetAngleY(0, 0.1f);
|
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cargo->SetAngleX(0, 0.0f);
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cargo->SetAngleZ(0, 0.8f);
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m_object->SetCargo(cargo); // takes
|
||
}
|
||
|
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return true;
|
||
}
|
||
|
||
// Deposes the object taken.
|
||
|
||
bool CTaskTake::TransporterDeposeObject()
|
||
{
|
||
Character* character;
|
||
CObject* cargo;
|
||
CObject* other;
|
||
Math::Matrix* mat;
|
||
Math::Vector pos;
|
||
float angle;
|
||
|
||
if ( m_arm == TTA_FFRONT ) // deposes on the ground in front?
|
||
{
|
||
cargo = m_object->GetCargo();
|
||
if ( cargo == 0 ) return false; // does nothing?
|
||
m_cargoType = cargo->GetType();
|
||
|
||
mat = cargo->GetWorldMatrix(0);
|
||
pos = Transform(*mat, Math::Vector(-0.5f, 1.0f, 0.0f));
|
||
m_terrain->AdjustToFloor(pos);
|
||
cargo->SetPosition(0, pos);
|
||
cargo->SetAngleY(0, m_object->GetAngleY(0)+Math::PI/2.0f);
|
||
cargo->SetAngleX(0, 0.0f);
|
||
cargo->SetAngleZ(0, 0.0f);
|
||
cargo->FloorAdjust(); // plate well on the ground
|
||
|
||
dynamic_cast<CTransportableObject*>(cargo)->SetTransporter(0);
|
||
m_object->SetCargo(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;
|
||
|
||
cargo = other->GetPower();
|
||
if ( cargo != 0 ) return false; // the other already has a battery?
|
||
|
||
cargo = m_object->GetCargo();
|
||
if ( cargo == 0 ) return false;
|
||
m_cargoType = cargo->GetType();
|
||
|
||
other->SetPower(cargo);
|
||
dynamic_cast<CTransportableObject*>(cargo)->SetTransporter(other);
|
||
|
||
character = other->GetCharacter();
|
||
cargo->SetPosition(0, character->posPower);
|
||
cargo->SetAngleY(0, 0.0f);
|
||
cargo->SetAngleX(0, 0.0f);
|
||
cargo->SetAngleZ(0, 0.0f);
|
||
dynamic_cast<CTransportableObject*>(cargo)->SetTransporterPart(0); // carried by the base
|
||
|
||
m_object->SetCargo(0); // 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->GetActive() ) 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
|
||
}
|
||
|