diff options
Diffstat (limited to 'src/object/task/taskgoto.h')
-rw-r--r-- | src/object/task/taskgoto.h | 314 |
1 files changed, 157 insertions, 157 deletions
diff --git a/src/object/task/taskgoto.h b/src/object/task/taskgoto.h index ae83459..1382d4c 100644 --- a/src/object/task/taskgoto.h +++ b/src/object/task/taskgoto.h @@ -1,157 +1,157 @@ -// * This file is part of the COLOBOT source code
-// * Copyright (C) 2001-2008, Daniel ROUX & EPSITEC SA, www.epsitec.ch
-// *
-// * This program is free software: you can redistribute it and/or modify
-// * it under the terms of the GNU General Public License as published by
-// * the Free Software Foundation, either version 3 of the License, or
-// * (at your option) any later version.
-// *
-// * This program is distributed in the hope that it will be useful,
-// * but WITHOUT ANY WARRANTY; without even the implied warranty of
-// * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// * GNU General Public License for more details.
-// *
-// * You should have received a copy of the GNU General Public License
-// * along with this program. If not, see http://www.gnu.org/licenses/.
-
-// taskgoto.h
-
-#pragma once
-
-
-#include "object/task/task.h"
-#include "math/vector.h"
-
-
-
-const int MAXPOINTS = 500;
-
-
-
-enum TaskGotoGoal
-{
- TGG_DEFAULT = -1, // default mode
- TGG_STOP = 0, // goes to destination pausing with precision
- TGG_EXPRESS = 1, // goes to destination without stopping
-};
-
-enum TaskGotoCrash
-{
- TGC_DEFAULT = -1, // default mode
- TGC_HALT = 0, // stops if collision
- TGC_RIGHTLEFT = 1, // right-left
- TGC_LEFTRIGHT = 2, // left-right
- TGC_LEFT = 3, // left
- TGC_RIGHT = 4, // right
- TGC_BEAM = 5, // algorithm "sunlight"
-};
-
-
-enum TaskGotoPhase
-{
- TGP_ADVANCE = 1, // advance
- TGP_LAND = 2, // landed
- TGP_TURN = 3, // turns to finish
- TGP_MOVE = 4, // advance to finish
- TGP_CRWAIT = 5, // waits after collision
- TGP_CRTURN = 6, // turns right after collision
- TGP_CRADVANCE = 7, // advance to the right after collision
- TGP_CLWAIT = 8, // waits after collision
- TGP_CLTURN = 9, // turns left after collision
- TGP_CLADVANCE = 10, // advance to the left after collision
- TGP_BEAMLEAK = 11, // beam: leak (leaking)
- TGP_BEAMSEARCH = 12, // beam: search
- TGP_BEAMWCOLD = 13, // beam: expects cool reactor
- TGP_BEAMUP = 14, // beam: off
- TGP_BEAMGOTO = 15, // beam: goto dot list
- TGP_BEAMDOWN = 16, // beam: landed
-};
-
-
-
-class CTaskGoto : public CTask
-{
-public:
- CTaskGoto(CInstanceManager* iMan, CObject* object);
- ~CTaskGoto();
-
- bool EventProcess(const Event &event);
-
- Error Start(Math::Vector goal, float altitude, TaskGotoGoal goalMode, TaskGotoCrash crashMode);
- Error IsEnded();
-
-protected:
- CObject* WormSearch(Math::Vector &impact);
- void WormFrame(float rTime);
- CObject* SearchTarget(Math::Vector pos, float margin);
- bool AdjustTarget(CObject* pObj, Math::Vector &pos, float &distance);
- bool AdjustBuilding(Math::Vector &pos, float margin, float &distance);
- bool GetHotPoint(CObject *pObj, Math::Vector &pos, bool bTake, float distance, float &suppl);
- bool LeakSearch(Math::Vector &pos, float &delay);
- void ComputeRepulse(Math::Point &dir);
- void ComputeFlyingRepulse(float &dir);
-
- int BeamShortcut();
- void BeamStart();
- void BeamInit();
- Error BeamSearch(const Math::Vector &start, const Math::Vector &goal, float goalRadius);
- 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);
- Math::Vector BeamPoint(const Math::Vector &startPoint, const Math::Vector &goalPoint, float angle, float step);
-
- void BitmapDebug(const Math::Vector &min, const Math::Vector &max, const Math::Vector &start, const Math::Vector &goal);
- bool BitmapTestLine(const Math::Vector &start, const Math::Vector &goal, float stepAngle, bool bSecond);
- void BitmapObject();
- void BitmapTerrain(const Math::Vector &min, const Math::Vector &max);
- void BitmapTerrain(int minx, int miny, int maxx, int maxy);
- bool BitmapOpen();
- bool BitmapClose();
- void BitmapSetCircle(const Math::Vector &pos, float radius);
- void BitmapClearCircle(const Math::Vector &pos, float radius);
- void BitmapSetDot(int rank, int x, int y);
- void BitmapClearDot(int rank, int x, int y);
- bool BitmapTestDot(int rank, int x, int y);
-
-protected:
- Math::Vector m_goal;
- Math::Vector m_goalObject;
- float m_angle;
- float m_altitude;
- TaskGotoCrash m_crashMode;
- TaskGotoGoal m_goalMode;
- TaskGotoPhase m_phase;
- int m_try;
- Error m_error;
- bool m_bTake;
- float m_stopLength; // braking distance
- float m_time;
- Math::Vector m_pos;
- bool m_bWorm;
- bool m_bApprox;
- float m_wormLastTime;
- float m_lastDistance;
-
- int m_bmSize; // width or height of the table
- int m_bmOffset; // m_bmSize/2
- int m_bmLine; // increment line m_bmSize/8
- unsigned char* m_bmArray; // bit table
- int m_bmMinX, m_bmMinY;
- int m_bmMaxX, m_bmMaxY;
- int m_bmTotal; // number of points in m_bmPoints
- int m_bmIndex; // index in m_bmPoints
- Math::Vector m_bmPoints[MAXPOINTS+2];
- char m_bmIter[MAXPOINTS+2];
- int m_bmIterCounter;
- CObject* m_bmFretObject;
- float m_bmFinalMove; // final advance distance
- float m_bmFinalDist; // effective distance to advance
- Math::Vector m_bmFinalPos; // initial position before advance
- float m_bmTimeLimit;
- int m_bmStep;
- Math::Vector m_bmWatchDogPos;
- float m_bmWatchDogTime;
- Math::Vector m_leakPos; // initial position leak
- float m_leakDelay;
- float m_leakTime;
- bool m_bLeakRecede;
-};
-
+// * This file is part of the COLOBOT source code +// * Copyright (C) 2001-2008, Daniel ROUX & EPSITEC SA, www.epsitec.ch +// * +// * This program is free software: you can redistribute it and/or modify +// * it under the terms of the GNU General Public License as published by +// * the Free Software Foundation, either version 3 of the License, or +// * (at your option) any later version. +// * +// * This program is distributed in the hope that it will be useful, +// * but WITHOUT ANY WARRANTY; without even the implied warranty of +// * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// * GNU General Public License for more details. +// * +// * You should have received a copy of the GNU General Public License +// * along with this program. If not, see http://www.gnu.org/licenses/. + +// taskgoto.h + +#pragma once + + +#include "object/task/task.h" +#include "math/vector.h" + + + +const int MAXPOINTS = 500; + + + +enum TaskGotoGoal +{ + TGG_DEFAULT = -1, // default mode + TGG_STOP = 0, // goes to destination pausing with precision + TGG_EXPRESS = 1, // goes to destination without stopping +}; + +enum TaskGotoCrash +{ + TGC_DEFAULT = -1, // default mode + TGC_HALT = 0, // stops if collision + TGC_RIGHTLEFT = 1, // right-left + TGC_LEFTRIGHT = 2, // left-right + TGC_LEFT = 3, // left + TGC_RIGHT = 4, // right + TGC_BEAM = 5, // algorithm "sunlight" +}; + + +enum TaskGotoPhase +{ + TGP_ADVANCE = 1, // advance + TGP_LAND = 2, // landed + TGP_TURN = 3, // turns to finish + TGP_MOVE = 4, // advance to finish + TGP_CRWAIT = 5, // waits after collision + TGP_CRTURN = 6, // turns right after collision + TGP_CRADVANCE = 7, // advance to the right after collision + TGP_CLWAIT = 8, // waits after collision + TGP_CLTURN = 9, // turns left after collision + TGP_CLADVANCE = 10, // advance to the left after collision + TGP_BEAMLEAK = 11, // beam: leak (leaking) + TGP_BEAMSEARCH = 12, // beam: search + TGP_BEAMWCOLD = 13, // beam: expects cool reactor + TGP_BEAMUP = 14, // beam: off + TGP_BEAMGOTO = 15, // beam: goto dot list + TGP_BEAMDOWN = 16, // beam: landed +}; + + + +class CTaskGoto : public CTask +{ +public: + CTaskGoto(CInstanceManager* iMan, CObject* object); + ~CTaskGoto(); + + bool EventProcess(const Event &event); + + Error Start(Math::Vector goal, float altitude, TaskGotoGoal goalMode, TaskGotoCrash crashMode); + Error IsEnded(); + +protected: + CObject* WormSearch(Math::Vector &impact); + void WormFrame(float rTime); + CObject* SearchTarget(Math::Vector pos, float margin); + bool AdjustTarget(CObject* pObj, Math::Vector &pos, float &distance); + bool AdjustBuilding(Math::Vector &pos, float margin, float &distance); + bool GetHotPoint(CObject *pObj, Math::Vector &pos, bool bTake, float distance, float &suppl); + bool LeakSearch(Math::Vector &pos, float &delay); + void ComputeRepulse(Math::Point &dir); + void ComputeFlyingRepulse(float &dir); + + int BeamShortcut(); + void BeamStart(); + void BeamInit(); + Error BeamSearch(const Math::Vector &start, const Math::Vector &goal, float goalRadius); + 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); + Math::Vector BeamPoint(const Math::Vector &startPoint, const Math::Vector &goalPoint, float angle, float step); + + void BitmapDebug(const Math::Vector &min, const Math::Vector &max, const Math::Vector &start, const Math::Vector &goal); + bool BitmapTestLine(const Math::Vector &start, const Math::Vector &goal, float stepAngle, bool bSecond); + void BitmapObject(); + void BitmapTerrain(const Math::Vector &min, const Math::Vector &max); + void BitmapTerrain(int minx, int miny, int maxx, int maxy); + bool BitmapOpen(); + bool BitmapClose(); + void BitmapSetCircle(const Math::Vector &pos, float radius); + void BitmapClearCircle(const Math::Vector &pos, float radius); + void BitmapSetDot(int rank, int x, int y); + void BitmapClearDot(int rank, int x, int y); + bool BitmapTestDot(int rank, int x, int y); + +protected: + Math::Vector m_goal; + Math::Vector m_goalObject; + float m_angle; + float m_altitude; + TaskGotoCrash m_crashMode; + TaskGotoGoal m_goalMode; + TaskGotoPhase m_phase; + int m_try; + Error m_error; + bool m_bTake; + float m_stopLength; // braking distance + float m_time; + Math::Vector m_pos; + bool m_bWorm; + bool m_bApprox; + float m_wormLastTime; + float m_lastDistance; + + int m_bmSize; // width or height of the table + int m_bmOffset; // m_bmSize/2 + int m_bmLine; // increment line m_bmSize/8 + unsigned char* m_bmArray; // bit table + int m_bmMinX, m_bmMinY; + int m_bmMaxX, m_bmMaxY; + int m_bmTotal; // number of points in m_bmPoints + int m_bmIndex; // index in m_bmPoints + Math::Vector m_bmPoints[MAXPOINTS+2]; + char m_bmIter[MAXPOINTS+2]; + int m_bmIterCounter; + CObject* m_bmFretObject; + float m_bmFinalMove; // final advance distance + float m_bmFinalDist; // effective distance to advance + Math::Vector m_bmFinalPos; // initial position before advance + float m_bmTimeLimit; + int m_bmStep; + Math::Vector m_bmWatchDogPos; + float m_bmWatchDogTime; + Math::Vector m_leakPos; // initial position leak + float m_leakDelay; + float m_leakTime; + bool m_bLeakRecede; +}; + |