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-rw-r--r--src/object/task/taskgoto.cpp137
1 files changed, 68 insertions, 69 deletions
diff --git a/src/object/task/taskgoto.cpp b/src/object/task/taskgoto.cpp
index c5ffaec..3846564 100644
--- a/src/object/task/taskgoto.cpp
+++ b/src/object/task/taskgoto.cpp
@@ -16,14 +16,13 @@
// taskgoto.cpp
-#define STRICT
-#define D3D_OVERLOADS
#include <windows.h>
#include <stdio.h>
#include <d3d.h>
#include "common/struct.h"
+#include "math/geometry.h"
#include "graphics/d3d/d3dengine.h"
#include "math/old/math3d.h"
#include "common/event.h"
@@ -67,7 +66,7 @@ CTaskGoto::~CTaskGoto()
bool CTaskGoto::EventProcess(const Event &event)
{
D3DVECTOR pos, goal;
- FPOINT rot, repulse;
+ Math::Point rot, repulse;
float a, g, dist, linSpeed, cirSpeed, h, hh, factor, dir;
Error ret;
@@ -102,14 +101,14 @@ bool CTaskGoto::EventProcess(const Event &event)
rot.y /= dist;
a = m_object->RetAngleY(0);
- g = RotateAngle(rot.x, -rot.y); // CW !
- a = Direction(a, g)*1.0f;
+ g = Math::RotateAngle(rot.x, -rot.y); // CW !
+ a = Math::Direction(a, g)*1.0f;
cirSpeed = a;
if ( cirSpeed > 1.0f ) cirSpeed = 1.0f;
if ( cirSpeed < -1.0f ) cirSpeed = -1.0f;
- a = NormAngle(a);
- if ( a > PI*0.5f && a < PI*1.5f )
+ a = Math::NormAngle(a);
+ if ( a > Math::PI*0.5f && a < Math::PI*1.5f )
{
linSpeed = 1.0f; // obstacle behind -> advance
cirSpeed = -cirSpeed;
@@ -159,8 +158,8 @@ bool CTaskGoto::EventProcess(const Event &event)
D3DVECTOR min, max;
min = pos;
max = m_goal;
- if ( min.x > max.x ) Swap(min.x, max.x);
- if ( min.z > max.z ) Swap(min.z, max.z);
+ if ( min.x > max.x ) Math::Swap(min.x, max.x);
+ if ( min.z > max.z ) Math::Swap(min.z, max.z);
min.x -= 50.0f;
min.z -= 50.0f;
max.x += 50.0f;
@@ -179,8 +178,8 @@ bool CTaskGoto::EventProcess(const Event &event)
D3DVECTOR min, max;
min = pos;
max = m_goal;
- if ( min.x > max.x ) Swap(min.x, max.x);
- if ( min.z > max.z ) Swap(min.z, max.z);
+ if ( min.x > max.x ) Math::Swap(min.x, max.x);
+ if ( min.z > max.z ) Math::Swap(min.z, max.z);
min.x -= 50.0f;
min.z -= 50.0f;
max.x += 50.0f;
@@ -240,7 +239,7 @@ bool CTaskGoto::EventProcess(const Event &event)
}
goal.y = pos.y;
hh = m_terrain->RetFloorHeight(goal, true, true);
- h = Min(h, hh);
+ h = Math::Min(h, hh);
linSpeed = 0.0f;
if ( h < m_altitude-1.0f )
{
@@ -261,8 +260,8 @@ bool CTaskGoto::EventProcess(const Event &event)
rot.y /= dist;
a = m_object->RetAngleY(0);
- g = RotateAngle(rot.x, -rot.y); // CW !
- cirSpeed = Direction(a, g)*2.0f;
+ g = Math::RotateAngle(rot.x, -rot.y); // CW !
+ cirSpeed = Math::Direction(a, g)*2.0f;
if ( cirSpeed > 1.0f ) cirSpeed = 1.0f;
if ( cirSpeed < -1.0f ) cirSpeed = -1.0f;
if ( dist < 4.0f ) cirSpeed *= dist/4.0f; // so close -> turns less
@@ -277,10 +276,10 @@ bool CTaskGoto::EventProcess(const Event &event)
linSpeed = 1.0f; // dark without stopping
}
- linSpeed *= 1.0f-(1.0f-0.3f)*Abs(cirSpeed);
+ linSpeed *= 1.0f-(1.0f-0.3f)*fabs(cirSpeed);
-//? if ( dist < 20.0f && Abs(cirSpeed) >= 0.5f )
- if ( Abs(cirSpeed) >= 0.2f )
+//? if ( dist < 20.0f && fabs(cirSpeed) >= 0.5f )
+ if ( fabs(cirSpeed) >= 0.2f )
{
linSpeed = 0.0f; // turns first, then advance
}
@@ -353,8 +352,8 @@ bool CTaskGoto::EventProcess(const Event &event)
rot.x = m_goal.x-pos.x;
rot.y = m_goal.z-pos.z;
a = m_object->RetAngleY(0);
- g = RotateAngle(rot.x, -rot.y); // CW !
- cirSpeed = Direction(a, g)*1.0f;
+ g = Math::RotateAngle(rot.x, -rot.y); // CW !
+ cirSpeed = Math::Direction(a, g)*1.0f;
if ( cirSpeed > 1.0f ) cirSpeed = 1.0f;
if ( cirSpeed < -1.0f ) cirSpeed = -1.0f;
@@ -402,8 +401,8 @@ bool CTaskGoto::EventProcess(const Event &event)
#if 0
pos = m_object->RetPosition(0);
a = m_object->RetAngleY(0);
- g = RotateAngle(m_goal.x-pos.x, pos.z-m_goal.z); // CW !
- cirSpeed = Direction(a, g)*1.0f;
+ g = Math::RotateAngle(m_goal.x-pos.x, pos.z-m_goal.z); // CW !
+ cirSpeed = Math::Direction(a, g)*1.0f;
if ( cirSpeed > 1.0f ) cirSpeed = 1.0f;
if ( cirSpeed < -1.0f ) cirSpeed = -1.0f;
@@ -411,7 +410,7 @@ bool CTaskGoto::EventProcess(const Event &event)
linSpeed = dist/(m_physics->RetLinStopLength()*1.5f);
if ( linSpeed > 1.0f ) linSpeed = 1.0f;
- if ( dist < 20.0f && Abs(cirSpeed) >= 0.5f )
+ if ( dist < 20.0f && fabs(cirSpeed) >= 0.5f )
{
linSpeed = 0.0f; // turns first, then advance
}
@@ -429,8 +428,8 @@ bool CTaskGoto::EventProcess(const Event &event)
rot.y += repulse.y*2.0f;
a = m_object->RetAngleY(0);
- g = RotateAngle(rot.x, -rot.y); // CW !
- cirSpeed = Direction(a, g)*1.0f;
+ g = Math::RotateAngle(rot.x, -rot.y); // CW !
+ cirSpeed = Math::Direction(a, g)*1.0f;
//? if ( m_physics->RetType() == TYPE_FLYING &&
//? m_physics->RetLand() ) // flying on the ground?
//? {
@@ -448,9 +447,9 @@ bool CTaskGoto::EventProcess(const Event &event)
//? }
if ( linSpeed > 1.0f ) linSpeed = 1.0f;
- linSpeed *= 1.0f-(1.0f-0.3f)*Abs(cirSpeed);
+ linSpeed *= 1.0f-(1.0f-0.3f)*fabs(cirSpeed);
- if ( dist < 20.0f && Abs(cirSpeed) >= 0.5f )
+ if ( dist < 20.0f && fabs(cirSpeed) >= 0.5f )
{
linSpeed = 0.0f; // turns first, then advance
}
@@ -466,7 +465,7 @@ bool CTaskGoto::EventProcess(const Event &event)
{
a = m_object->RetAngleY(0);
g = m_angle;
- cirSpeed = Direction(a, g)*1.0f;
+ cirSpeed = Math::Direction(a, g)*1.0f;
if ( cirSpeed > 1.0f ) cirSpeed = 1.0f;
if ( cirSpeed < -1.0f ) cirSpeed = -1.0f;
@@ -774,8 +773,8 @@ Error CTaskGoto::Start(D3DVECTOR goal, float altitude,
D3DVECTOR min, max;
min = m_object->RetPosition(0);
max = m_goal;
- if ( min.x > max.x ) Swap(min.x, max.x);
- if ( min.z > max.z ) Swap(min.z, max.z);
+ if ( min.x > max.x ) Math::Swap(min.x, max.x);
+ if ( min.z > max.z ) Math::Swap(min.z, max.z);
min.x -= 50.0f;
min.z -= 50.0f;
max.x += 50.0f;
@@ -865,8 +864,8 @@ Error CTaskGoto::IsEnded()
}
if ( m_bApprox ) limit = 2.0f;
- if ( Abs(pos.x - m_bmPoints[m_bmIndex].x) < limit &&
- Abs(pos.z - m_bmPoints[m_bmIndex].z) < limit )
+ if ( fabs(pos.x - m_bmPoints[m_bmIndex].x) < limit &&
+ fabs(pos.z - m_bmPoints[m_bmIndex].z) < limit )
{
m_physics->SetMotorSpeedX(0.0f); // stops the advance
m_physics->SetMotorSpeedZ(0.0f); // stops the rotation
@@ -895,7 +894,7 @@ Error CTaskGoto::IsEnded()
if ( m_bTake )
{
- m_angle = RotateAngle(m_goalObject.x-pos.x, pos.z-m_goalObject.z);
+ m_angle = Math::RotateAngle(m_goalObject.x-pos.x, pos.z-m_goalObject.z);
m_phase = TGP_TURN;
}
else
@@ -922,8 +921,8 @@ Error CTaskGoto::IsEnded()
else limit = 1.0f; // flying
if ( m_bApprox ) limit = 2.0f;
- if ( Abs(pos.x - m_goal.x) < limit &&
- Abs(pos.z - m_goal.z) < limit )
+ if ( fabs(pos.x - m_goal.x) < limit &&
+ fabs(pos.z - m_goal.z) < limit )
{
m_physics->SetMotorSpeedX(0.0f); // stops the advance
m_physics->SetMotorSpeedZ(0.0f); // stops the rotation
@@ -941,7 +940,7 @@ Error CTaskGoto::IsEnded()
if ( m_bTake )
{
- m_angle = RotateAngle(m_goalObject.x-pos.x, pos.z-m_goalObject.z);
+ m_angle = Math::RotateAngle(m_goalObject.x-pos.x, pos.z-m_goalObject.z);
m_phase = TGP_TURN;
}
else
@@ -952,17 +951,17 @@ Error CTaskGoto::IsEnded()
if ( m_phase == TGP_TURN ) // turns to the object?
{
- angle = NormAngle(m_object->RetAngleY(0));
+ angle = Math::NormAngle(m_object->RetAngleY(0));
limit = 0.02f;
if ( m_bApprox ) limit = 0.10f;
- if ( Abs(angle-m_angle) < limit )
+ if ( fabs(angle-m_angle) < limit )
{
m_physics->SetMotorSpeedZ(0.0f); // stops the rotation
if ( m_bmFinalMove == 0.0f ) return ERR_STOP;
m_bmFinalPos = m_object->RetPosition(0);
m_bmFinalDist = m_physics->RetLinLength(m_bmFinalMove);
- m_bmTimeLimit = m_physics->RetLinTimeLength(Abs(m_bmFinalMove))*1.5f;
+ m_bmTimeLimit = m_physics->RetLinTimeLength(fabs(m_bmFinalMove))*1.5f;
if ( m_bmTimeLimit < 0.5f ) m_bmTimeLimit = 0.5f;
m_phase = TGP_MOVE;
}
@@ -980,9 +979,9 @@ Error CTaskGoto::IsEnded()
if ( m_time >= 1.0f )
{
if ( m_crashMode == TGC_RIGHTLEFT ||
- m_crashMode == TGC_RIGHT ) angle = PI/2.0f; // 90 deegres to the right
- else angle = -PI/2.0f; // 90 deegres to the left
- m_angle = NormAngle(m_object->RetAngleY(0)+angle);
+ m_crashMode == TGC_RIGHT ) angle = Math::PI/2.0f; // 90 deegres to the right
+ else angle = -Math::PI/2.0f; // 90 deegres to the left
+ m_angle = Math::NormAngle(m_object->RetAngleY(0)+angle);
m_phase = TGP_CRTURN;
//? m_phase = TGP_ADVANCE;
}
@@ -990,9 +989,9 @@ Error CTaskGoto::IsEnded()
if ( m_phase == TGP_CRTURN ) // turns after collision?
{
- angle = NormAngle(m_object->RetAngleY(0));
+ angle = Math::NormAngle(m_object->RetAngleY(0));
limit = 0.1f;
- if ( Abs(angle-m_angle) < limit )
+ if ( fabs(angle-m_angle) < limit )
{
m_physics->SetMotorSpeedZ(0.0f); // stops the rotation
m_pos = pos;
@@ -1012,20 +1011,20 @@ Error CTaskGoto::IsEnded()
{
if ( m_time >= 1.0f )
{
- if ( m_crashMode == TGC_RIGHTLEFT ) angle = -PI;
- if ( m_crashMode == TGC_LEFTRIGHT ) angle = PI;
- if ( m_crashMode == TGC_RIGHT ) angle = PI/2.0f;
- if ( m_crashMode == TGC_LEFT ) angle = -PI/2.0f;
- m_angle = NormAngle(m_object->RetAngleY(0)+angle);
+ if ( m_crashMode == TGC_RIGHTLEFT ) angle = -Math::PI;
+ if ( m_crashMode == TGC_LEFTRIGHT ) angle = Math::PI;
+ if ( m_crashMode == TGC_RIGHT ) angle = Math::PI/2.0f;
+ if ( m_crashMode == TGC_LEFT ) angle = -Math::PI/2.0f;
+ m_angle = Math::NormAngle(m_object->RetAngleY(0)+angle);
m_phase = TGP_CLTURN;
}
}
if ( m_phase == TGP_CLTURN ) // turns after collision?
{
- angle = NormAngle(m_object->RetAngleY(0));
+ angle = Math::NormAngle(m_object->RetAngleY(0));
limit = 0.1f;
- if ( Abs(angle-m_angle) < limit )
+ if ( fabs(angle-m_angle) < limit )
{
m_physics->SetMotorSpeedZ(0.0f); // stops the rotation
m_pos = pos;
@@ -1429,11 +1428,11 @@ bool CTaskGoto::LeakSearch(D3DVECTOR &pos, float &delay)
// Calculates the force of repulsion due to obstacles.
// The vector length rendered is between 0 and 1.
-void CTaskGoto::ComputeRepulse(FPOINT &dir)
+void CTaskGoto::ComputeRepulse(Math::Point &dir)
{
#if 0
D3DVECTOR iPos, oPos;
- FPOINT repulse;
+ Math::Point repulse;
CObject *pObj;
float dist, iRadius, oRadius;
int i;
@@ -1478,7 +1477,7 @@ void CTaskGoto::ComputeRepulse(FPOINT &dir)
#else
ObjectType iType, oType;
D3DVECTOR iPos, oPos;
- FPOINT repulse;
+ Math::Point repulse;
CObject *pObj;
float gDist, add, addi, fac, dist, iRadius, oRadius;
int i, j;
@@ -1723,8 +1722,8 @@ void CTaskGoto::BeamStart()
min = m_object->RetPosition(0);
max = m_goal;
- if ( min.x > max.x ) Swap(min.x, max.x);
- if ( min.z > max.z ) Swap(min.z, max.z);
+ if ( min.x > max.x ) Math::Swap(min.x, max.x);
+ if ( min.z > max.z ) Math::Swap(min.z, max.z);
min.x -= 10.0f*BM_DIM_STEP;
min.z -= 10.0f*BM_DIM_STEP;
max.x += 10.0f*BM_DIM_STEP;
@@ -1780,7 +1779,7 @@ Error CTaskGoto::BeamSearch(const D3DVECTOR &start, const D3DVECTOR &goal,
if ( step > 20.0f ) step = 20.0f;
nbIter = 200; // in order not to lower the framerate
m_bmIterCounter = 0;
- return BeamExplore(start, start, goal, goalRadius, 165.0f*PI/180.0f, 22, step, 0, nbIter);
+ return BeamExplore(start, start, goal, goalRadius, 165.0f*Math::PI/180.0f, 22, step, 0, nbIter);
}
// prevPos: previous position
@@ -1890,7 +1889,7 @@ D3DVECTOR CTaskGoto::BeamPoint(const D3DVECTOR &startPoint,
D3DVECTOR resPoint;
float goalAngle;
- goalAngle = RotateAngle(goalPoint.x-startPoint.x, goalPoint.z-startPoint.z);
+ goalAngle = Math::RotateAngle(goalPoint.x-startPoint.x, goalPoint.z-startPoint.z);
resPoint.x = startPoint.x + cosf(goalAngle+angle)*step;
resPoint.z = startPoint.z + sinf(goalAngle+angle)*step;
@@ -1912,8 +1911,8 @@ void CTaskGoto::BitmapDebug(const D3DVECTOR &min, const D3DVECTOR &max,
maxx = (int)((max.x+1600.0f)/BM_DIM_STEP);
maxy = (int)((max.z+1600.0f)/BM_DIM_STEP);
- if ( minx > maxx ) Swap(minx, maxx);
- if ( miny > maxy ) Swap(miny, maxy);
+ if ( minx > maxx ) Math::Swap(minx, maxx);
+ if ( miny > maxy ) Math::Swap(miny, maxy);
OutputDebugString("Bitmap :\n");
for ( y=miny ; y<=maxy ; y++ )
@@ -2110,8 +2109,8 @@ void CTaskGoto::BitmapTerrain(int minx, int miny, int maxx, int maxy)
int x, y;
bool bAcceptWater, bFly;
- if ( minx > maxx ) Swap(minx, maxx);
- if ( miny > maxy ) Swap(miny, maxy);
+ if ( minx > maxx ) Math::Swap(minx, maxx);
+ if ( miny > maxy ) Math::Swap(miny, maxy);
if ( minx < 0 ) minx = 0;
if ( miny < 0 ) miny = 0;
@@ -2126,7 +2125,7 @@ void CTaskGoto::BitmapTerrain(int minx, int miny, int maxx, int maxy)
if ( minx >= m_bmMinX && maxx <= m_bmMaxX &&
miny >= m_bmMinY && maxy <= m_bmMaxY ) return;
- aLimit = 20.0f*PI/180.0f;
+ aLimit = 20.0f*Math::PI/180.0f;
bAcceptWater = false;
bFly = false;
@@ -2139,7 +2138,7 @@ void CTaskGoto::BitmapTerrain(int minx, int miny, int maxx, int maxy)
type == OBJECT_MOBILEwt ||
type == OBJECT_MOBILEtg ) // wheels?
{
- aLimit = 20.0f*PI/180.0f;
+ aLimit = 20.0f*Math::PI/180.0f;
}
if ( type == OBJECT_MOBILEta ||
@@ -2147,7 +2146,7 @@ void CTaskGoto::BitmapTerrain(int minx, int miny, int maxx, int maxy)
type == OBJECT_MOBILEti ||
type == OBJECT_MOBILEts ) // caterpillars?
{
- aLimit = 35.0f*PI/180.0f;
+ aLimit = 35.0f*Math::PI/180.0f;
}
if ( type == OBJECT_MOBILErt ||
@@ -2155,18 +2154,18 @@ void CTaskGoto::BitmapTerrain(int minx, int miny, int maxx, int maxy)
type == OBJECT_MOBILErr ||
type == OBJECT_MOBILErs ) // large caterpillars?
{
- aLimit = 35.0f*PI/180.0f;
+ aLimit = 35.0f*Math::PI/180.0f;
}
if ( type == OBJECT_MOBILEsa ) // submarine caterpillars?
{
- aLimit = 35.0f*PI/180.0f;
+ aLimit = 35.0f*Math::PI/180.0f;
bAcceptWater = true;
}
if ( type == OBJECT_MOBILEdr ) // designer caterpillars?
{
- aLimit = 35.0f*PI/180.0f;
+ aLimit = 35.0f*Math::PI/180.0f;
}
if ( type == OBJECT_MOBILEfa ||
@@ -2175,7 +2174,7 @@ void CTaskGoto::BitmapTerrain(int minx, int miny, int maxx, int maxy)
type == OBJECT_MOBILEfi ||
type == OBJECT_MOBILEft ) // flying?
{
- aLimit = 15.0f*PI/180.0f;
+ aLimit = 15.0f*Math::PI/180.0f;
bFly = true;
}
@@ -2184,7 +2183,7 @@ void CTaskGoto::BitmapTerrain(int minx, int miny, int maxx, int maxy)
type == OBJECT_MOBILEis ||
type == OBJECT_MOBILEii ) // insect legs?
{
- aLimit = 60.0f*PI/180.0f;
+ aLimit = 60.0f*Math::PI/180.0f;
}
for ( y=miny ; y<=maxy ; y++ )
generated by cgit v1.2.3-1-g7c22 (git 2.25.1) at 2024-07-06 06:10:50 +0000